Tailing pond ore drawing method and system based on unmanned aerial vehicle

Abstract

The invention discloses a tailing pond ore drawing method based on an unmanned aerial vehicle. The method comprises the steps that the unmanned aerial vehicle is adopted for surveying and mapping a target tailing pond, and data information of the target tailing pond is obtained; reconstructing the data information to obtain model data information of the target tailings pond; performing three-dimensional modeling to obtain three-dimensional model data of the target tailings pond; semantic segmentation is carried out on the target tailing pond to obtain beach face model data information and tailing dam model data information; obtaining ore drawing pipeline information of the target tailings pond; and a monitoring line is set according to the beach face model data information, and ore drawing of the tailing pond based on the unmanned aerial vehicle is completed in combination with ore drawing pipeline information and elevation information. The invention further discloses a system for achieving the tailing pond ore drawing method based on the unmanned aerial vehicle. Ore drawing of the tailing pond based on the unmanned aerial vehicle can be achieved, it can be guaranteed that the beach face is uniform after ore drawing of the tailing pond, safe and stable operation of the tailing pond is guaranteed, reliability is higher, safety is better, and the method is more objective and scientific.

Description

Technical Field

[0001] The present invention belongs to the technical field of mines, and in particular relates to a tailings pond unloading method and system based on unmanned aerial vehicles. Background Art

[0002] At present, there are a large number of tailings ponds in my country, and they are widely distributed. The safety of tailings ponds has always been one of the most concerned issues.

[0003] The operation of the tailings pond is a dynamic process. The existing regulations and specifications have clear requirements for the wet discharge of the tailings pond, and the requirements are relatively high. The current wet discharge plan of the tailings pond is mainly determined by the staff of the tailings pond based on experience to judge and adjust the number of openings, flow rate, location of the branch pipes and the spacing of the branch pipes, so as to control the rise of the tailings pond beach.

[0004] However, this type of manually controlled solution is not only highly empirical, but also has poor reliability and safety. In daily operations, the discharge process of the tailings pond often encounters safety hazards and safety problems caused by lack of management, insufficient discharge experience, incorrect discharge sequence, etc., which seriously affects the safe and stable operation of the tailings pond. Summary of the invention

[0005] One of the purposes of the present invention is to provide a tailings pond discharge method based on drone which is highly reliable, safe, objective and scientific.

[0006] A second object of the present invention is to provide a system for implementing the tailings pond unloading method based on drones.

[0007] The tailings pond ore placing method based on drone provided by the present invention comprises the following steps:

[0008] S1. Use drones to map the target tailings pond and obtain data information of the target tailings pond;

[0009] S2. Reconstruct the data information obtained in step S1 to obtain model data information of the target tailings pond;

[0010] S3. Perform three-dimensional modeling according to the model data information obtained in step S2 to obtain three-dimensional model data of the target tailings pond;

[0011] S4. Based on the three-dimensional model data obtained in step S3, a semantic segmentation method is used to perform semantic segmentation on the target tailings pond to obtain beach model data information and tailings dam model data information;

[0012] S5. Based on the tailings dam model data information obtained in step S4, obtain the ore discharge pipeline information of the target tailings pond;

[0013] S6. Set up a monitoring line according to the beach model data information obtained in step S4, and combine the ore-releasing pipeline information and elevation information obtained in step S5 to complete the ore-releasing of the tailings pond based on the drone.

[0014] The step S1 of using a drone to map the target tailings pond and obtain data information of the target tailings pond specifically includes the following steps:

[0015] Plan the flight path information of the drone;

[0016] Use drones to map the target tailings pond according to the planned route information;

[0017] After the surveying and mapping is completed, the data information of the target tailings pond is obtained; the data information includes photos of the target tailings pond area from several perspectives and spatial position data.

[0018] Step S2 is to reconstruct the data information obtained in step S1 to obtain the model data information of the target tailings pond, which specifically includes the following steps:

[0019] Reconstructing the data information obtained in step S1 to obtain model data information of the target tailings pond;

[0020] The model data information of the target tailings pond includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the target tailings pond.

[0021] Step S3, according to the model data information obtained in step S2, performs three-dimensional modeling to obtain three-dimensional model data of the target tailings pond, specifically comprising the following steps:

[0022] Perform three-dimensional modeling based on the model data information obtained in step S2 to obtain three-dimensional model data of the target tailings pond;

[0023] The three-dimensional model data of the target tailings pond includes an oblique image model and a three-dimensional model of the target tailings pond; the oblique image model and the three-dimensional model include a digital oblique image model DOM and a digital surface model DSM.

[0024] The step S4, based on the three-dimensional model data obtained in step S3, uses a semantic segmentation method to perform semantic segmentation on the target tailings pond to obtain beach model data information and tailings dam model data information, specifically comprising the following steps:

[0025] Based on the three-dimensional model data obtained in step S3, a semantic segmentation method is used to perform semantic segmentation on the target tailings pond to obtain beach model data information and tailings dam model data information;

[0026] The beach model data information includes a beach digital surface model; the tailings dam model data information includes a tailings dam digital surface model;

[0027] A coordinate system is established with the axis of the tailings dam along the flow direction of the ore pipe as the X-axis direction, the direction perpendicular to the dam axis and along the reservoir area of ​​the target tailings pond as the Y-axis direction, and the elevation direction as the Z-axis direction.

[0028] The step S5, based on the tailings dam model data information obtained in step S4, obtains the ore discharge pipeline information of the target tailings pond, which specifically includes the following steps:

[0029] Based on the tailings dam model data information obtained in step S4, the location information of the connection between each ore-discharging branch pipe and the ore-discharging main pipe on the tailings dam top is extracted on the digital surface model of the tailings dam; and finally N location information is obtained, where N is the number of ore-discharging branch pipes.

[0030] The step S6 sets the monitoring line according to the beach model data information obtained in step S4, and combines the ore-releasing pipeline information and elevation information obtained in step S5 to complete the ore-releasing of the tailings pond based on the drone, which specifically includes the following steps:

[0031] On the beach surface digital surface model obtained in step S4, a beach surface monitoring line is set in a direction parallel to the axis of the tailings dam, and the beach surface monitoring line is x meters away from the beach top;

[0032] On the monitoring line, the monitoring line is divided into equal intervals according to the set intervals; the distribution data of the monitoring line is obtained in the X-axis-Z-axis plane;

[0033] Based on the distribution data of the monitoring lines, the tailings pond is discharged according to the following rules:

[0034] Rule 1: On the monitoring line, if the maximum value of the difference between the Z-axis coordinates of each segmentation point is less than or equal to the first set value, the existing ore-dropping mode is maintained;

[0035] Rule 2: On the monitoring line, if the Z-axis coordinate value of each segmentation point changes with the X-axis coordinate value, and the maximum value of the difference of the Z-axis coordinates of each segmentation point is greater than the second set value, then obtain the X-axis coordinates of the segmentation points whose Z-axis coordinate difference is greater than the second set value, and construct set A; then make a judgment: among the position information obtained in step S5, if there is an i-th position information in set A, then ore is released at the ore-release branch pipe corresponding to the i-th position information;

[0036] The Z-axis coordinate value changes with the X-axis coordinate value, which is defined as the Z-axis coordinate increases when the X-axis coordinate increases, or the Z-axis coordinate decreases when the X-axis coordinate increases;

[0037] Rule 3: In the location information obtained in step S5, for each location information, the following judgment is performed:

[0038] For the i-th position (i x ,i y ),i x is the X-axis coordinate of the i-th position, i y is the Y-axis coordinate of the i-th position. If (i x -t1)~(i x +t2) area, the maximum value of the difference of the Z-axis coordinates of each segmentation point is less than or equal to the third set value, then the existing ore-dropping mode is maintained; t1 is the set lower limit range value, t2 is the set upper limit range value, and t1 and t2 are both greater than 0;

[0039] Rule 4: For each piece of location information obtained in step S5, the following judgment is performed:

[0040] For the i-th position (i x ,i y ),i x is the X-axis coordinate of the i-th position, i y is the Y-axis coordinate of the i-th position. If (i x -t1)~(i x +t2) area, if the maximum value of the difference between the Z-axis coordinates of each segmentation point is greater than the fourth set value, the i-th position is added to the set B;

[0041] Ore is released at the ore-releasing branch pipe corresponding to each position information in set B.

[0042] The present invention also provides a system for realizing the tailings pond ore-releasing method based on drone, comprising a data acquisition module, a data reconstruction module, a three-dimensional modeling module, a semantic segmentation module, a pipeline acquisition module and a tailings pond ore-releasing module; the data acquisition module, the data reconstruction module, the three-dimensional modeling module, the semantic segmentation module, the pipeline acquisition module and the tailings pond ore-releasing module are connected in series in sequence; the data acquisition module is used to use drones to survey and map the target tailings pond, and obtain data information of the target tailings pond, and upload the data information to the data reconstruction module; the data reconstruction module is used to reconstruct the acquired data information according to the received data information, obtain model data information of the target tailings pond, and upload the data information to the three-dimensional modeling module; the three-dimensional modeling module is used to reconstruct the acquired data information according to the received data information, obtain model data information of the target tailings pond, and upload the data information to the three-dimensional modeling module; the three-dimensional modeling module is used to reconstruct the model data information according to the received data information according to the model data According to the information, three-dimensional modeling is performed to obtain the three-dimensional model data of the target tailings pond, and the data information is uploaded to the semantic segmentation module; the semantic segmentation module is used to perform semantic segmentation on the target tailings pond based on the received data information and the three-dimensional model data using a semantic segmentation method to obtain the beach model data information and the tailings dam model data information, and upload the data information to the pipeline acquisition module; the pipeline acquisition module is used to obtain the ore discharge pipeline information of the target tailings pond based on the tailings dam model data information according to the received data information, and upload the data information to the tailings pond discharge module; the tailings pond discharge module is used to set a monitoring line according to the received data information and the beach model data information, and complete the discharge of the tailings pond based on the drone in combination with the discharge pipeline information and elevation information obtained in step S5.

[0043] The tailings pond discharge method and system based on drone provided by the present invention obtains the surveying and mapping data information of the target tailings pond through the drone, and obtains the three-dimensional data information of the target tailings pond based on the three-dimensional reconstruction technology and the semantic segmentation technology, and finally realizes the discharge of the tailings pond based on the discharge pipeline information and the elevation information; therefore, the present invention can not only realize the discharge of the tailings pond based on drone, but also ensure the uniformity of the beach surface after the tailings pond is discharged, and ensure the safe and stable operation of the tailings pond, but also has higher reliability, better safety, and is more objective and scientific. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The figure is a schematic diagram of the method flow of the present invention.

[0045] Figure 2 It is a schematic diagram of the beach surface, ore discharge branch pipe, ore discharge main pipe and tailings pond laid by the present invention.

[0046] Figure 3 Schematic diagram of the functional modules of the system of the present invention. DETAILED DESCRIPTION

[0047] like Figure 1The method flow diagram of the method of the present invention is shown as follows: the tailings pond ore discharge method based on drone provided by the present invention comprises the following steps:

[0048] S1. Use drones to map the target tailings pond and obtain data information of the target tailings pond; specifically, the following steps are included:

[0049] Plan the flight path information of the drone;

[0050] Use drones to map the target tailings pond according to the planned route information and the set time or frequency;

[0051] After the surveying and mapping is completed, the data information of the target tailings pond is obtained; the data information includes photos of several viewing angles and spatial position data of the target tailings pond area;

[0052] S2. Reconstruct the data information obtained in step S1 to obtain the model data information of the target tailings pond; specifically comprising the following steps:

[0053] Reconstructing the data information obtained in step S1 to obtain model data information of the target tailings pond;

[0054] The model data information of the target tailings pond includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the target tailings pond;

[0055] S3. According to the model data information obtained in step S2, three-dimensional modeling is performed to obtain the three-dimensional model data of the target tailings pond; specifically comprising the following steps:

[0056] Perform three-dimensional modeling based on the model data information obtained in step S2 to obtain three-dimensional model data of the target tailings pond;

[0057] The three-dimensional model data of the target tailings pond includes an oblique image model and a three-dimensional model of the target tailings pond; the oblique image model and the three-dimensional model include a digital oblique image model DOM and a digital surface model DSM;

[0058] S4. Based on the three-dimensional model data obtained in step S3, semantic segmentation is performed on the target tailings pond using a semantic segmentation method to obtain beach model data information and tailings dam model data information; specifically comprising the following steps:

[0059] Based on the three-dimensional model data obtained in step S3, a semantic segmentation method is used to perform semantic segmentation on the target tailings pond to obtain beach surface model data information and tailings dam model data information; wherein the beach surface is mainly the beach surface of the tailings pond area, mainly the area between the water surface line and the beach top;

[0060] The beach model data information includes a beach digital surface model; the tailings dam model data information includes a tailings dam digital surface model;

[0061] In specific implementation, reference may be made to the semantic segmentation method of the tailings pond adopted in the patent with application number "202110835831.0";

[0062] A coordinate system is established with the axis of the tailings dam along the flow direction of the ore pipe as the X-axis direction, the direction perpendicular to the axis of the dam and along the reservoir area of ​​the target tailings pond as the Y-axis direction, and the elevation direction as the Z-axis direction;

[0063] S5. Based on the tailings dam model data information obtained in step S4, obtain the ore discharge pipeline information of the target tailings pond; specifically comprising the following steps:

[0064] Based on the tailings dam model data information obtained in step S4, the location information of the connection between each ore-discharging branch pipe and the ore-discharging main pipe on the top of the tailings dam is extracted on the digital surface model of the tailings dam; finally, N location information is obtained, where N is the number of ore-discharging branch pipes; the location information is the location of the ore-discharging branch pipe;

[0065] like Figure 2 As shown, Figure 2 In order to facilitate the subsequent ore discharge, an automatic regulating valve is added at the outlet of the ore discharge branch pipe at the obtained N positions, so as to realize the automatic control of each ore discharge branch pipe;

[0066] S6. Setting a monitoring line according to the beach model data information obtained in step S4, and combining the ore-releasing pipeline information and elevation information obtained in step S5, completing the ore-releasing of the tailings pond based on the drone; specifically comprising the following steps:

[0067] On the beach surface digital surface model obtained in step S4, a beach surface monitoring line is set in a direction parallel to the axis of the tailings dam, and the beach surface monitoring line is x meters (preferably 1 meter) away from the beach top;

[0068] On the monitoring line, perform equal-interval segmentation according to the set interval; obtain the distribution data of the monitoring line in the X-axis-Z-axis plane; the value of the interval is preferably 0.2 meters; at the same time, the interval is determined by the interval between the ore-dropping branch pipes. If the interval between the ore-dropping branch pipes is large, the segmentation interval can be increased;

[0069] Based on the distribution data of the monitoring lines, the tailings pond is discharged according to the following rules:

[0070] Rule 1: On the monitoring line, if the maximum value of the difference between the Z-axis coordinates of each segmentation point is less than or equal to the first set value (preferably 20 cm), the existing ore-dropping mode is maintained;

[0071] Rule 2: On the monitoring line, if the Z-axis coordinate value of each segmentation point changes with the X-axis coordinate value, and the maximum value of the difference of the Z-axis coordinates of each segmentation point is greater than the second set value (preferably 20 cm), then obtain the X-axis coordinates of the segmentation points whose Z-axis coordinate difference is greater than the second set value (since the Z-axis coordinate difference is the Z-axis coordinate difference of two points, it is necessary to obtain the X-axis coordinates of the two points here), and construct set A; then make a judgment: among the position information obtained in step S5, if there is an i-th position information in set A, then ore is released at the ore release branch pipe corresponding to the i-th position information;

[0072] The Z-axis coordinate value changes with the X-axis coordinate value, which is defined as the Z-axis coordinate increases when the X-axis coordinate increases, or the Z-axis coordinate decreases when the X-axis coordinate increases;

[0073] Rule 3: In the location information obtained in step S5, for each location information, the following judgment is performed:

[0074] For the i-th position (i x ,i y ),i x is the X-axis coordinate of the i-th position, i y is the Y-axis coordinate of the i-th position. If (i x -t1)~(i x +t2) area, the maximum value of the difference of the Z-axis coordinates of each segmentation point is less than or equal to the third set value (preferably 20cm), then the existing ore-dropping mode is maintained; t1 is the set lower limit range value (preferably 2), t2 is the set upper limit range value (preferably 2), and t1 and t2 are both greater than 0;

[0075] Rule 4: For each piece of location information obtained in step S5, the following judgment is performed:

[0076] For the i-th position (i x ,i y ),i x is the X-axis coordinate of the i-th position, i y is the Y-axis coordinate of the i-th position. If (i x -t1)~(i x +t2) area, the maximum value of the difference between the Z-axis coordinates of each segmentation point is greater than the fourth set value (preferably 20 cm), then the i-th position is added to the set B;

[0077] Ore is released at the ore-releasing branch pipes corresponding to each position information in set B. In specific implementation, the preferred solution is to release ore at the ore-releasing branch pipes corresponding to each position information in set B in turn.

[0078] like Figure 3The functional module schematic diagram of the system of the present invention is shown as follows: the system disclosed in the present invention for realizing the tailings pond discharge method based on drone comprises a data acquisition module, a data reconstruction module, a three-dimensional modeling module, a semantic segmentation module, a pipeline acquisition module and a tailings pond discharge module; the data acquisition module, the data reconstruction module, the three-dimensional modeling module, the semantic segmentation module, the pipeline acquisition module and the tailings pond discharge module are connected in series in sequence; the data acquisition module is used to use a drone to survey and map the target tailings pond, and obtain data information of the target tailings pond, and upload the data information to the data reconstruction module; the data reconstruction module is used to reconstruct the acquired data information according to the received data information, obtain model data information of the target tailings pond, and upload the data information to the three-dimensional modeling module; the three-dimensional modeling module is used to map the target tailings pond according to the received data information According to the model data information, three-dimensional modeling is performed to obtain the three-dimensional model data of the target tailings pond, and the data information is uploaded to the semantic segmentation module; the semantic segmentation module is used to perform semantic segmentation on the target tailings pond based on the received data information and the three-dimensional model data using a semantic segmentation method to obtain the beach model data information and the tailings dam model data information, and upload the data information to the pipeline acquisition module; the pipeline acquisition module is used to obtain the ore discharge pipeline information of the target tailings pond based on the tailings dam model data information according to the received data information, and upload the data information to the tailings pond discharge module; the tailings pond discharge module is used to set a monitoring line according to the received data information and the beach model data information, and complete the discharge of the tailings pond based on the drone in combination with the discharge pipeline information and elevation information obtained in step S5.

Claims

1. A tailings pond ore placing method based on drone, comprising the following steps: S1. Use drones to map the target tailings pond and obtain data information of the target tailings pond; S2. Reconstruct the data information obtained in step S1 to obtain model data information of the target tailings pond; S3. Perform three-dimensional modeling according to the model data information obtained in step S2 to obtain three-dimensional model data of the target tailings pond; S4. Based on the three-dimensional model data obtained in step S3, a semantic segmentation method is used to perform semantic segmentation on the target tailings pond to obtain beach model data information and tailings dam model data information; S5. Based on the tailings dam model data information obtained in step S4, obtain the ore discharge pipeline information of the target tailings pond; S6. Set up a monitoring line according to the beach model data information obtained in step S4, and combine the ore-releasing pipeline information and elevation information obtained in step S5 to complete the ore-releasing of the tailings pond based on the drone.

2. The tailings pond discharge method based on drone according to claim 1, Features The step S1 of using a drone to map the target tailings pond and obtain data information of the target tailings pond specifically includes the following steps: Plan the flight path information of the drone; Use drones to map the target tailings pond according to the planned route information; After the surveying and mapping is completed, the data information of the target tailings pond is obtained; the data information includes photos of the target tailings pond area from several perspectives and spatial position data.

3. The tailings pond discharge method based on drone according to claim 2, Features Step S2 is to reconstruct the data information obtained in step S1 to obtain the model data information of the target tailings pond, which specifically includes the following steps: Reconstructing the data information obtained in step S1 to obtain model data information of the target tailings pond; The model data information of the target tailings pond includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the target tailings pond.

4. The tailings pond discharge method based on drone according to claim 3, Features Step S3, according to the model data information obtained in step S2, performs three-dimensional modeling to obtain three-dimensional model data of the target tailings pond, specifically comprising the following steps: Perform three-dimensional modeling based on the model data information obtained in step S2 to obtain three-dimensional model data of the target tailings pond; The three-dimensional model data of the target tailings pond includes an oblique image model and a three-dimensional model of the target tailings pond; the oblique image model and the three-dimensional model include a digital oblique image model DOM and a digital surface model DSM.

5. The tailings pond discharge method based on drone according to claim 4, Features The step S4, based on the three-dimensional model data obtained in step S3, uses a semantic segmentation method to perform semantic segmentation on the target tailings pond to obtain beach model data information and tailings dam model data information, specifically comprising the following steps: Based on the three-dimensional model data obtained in step S3, a semantic segmentation method is used to perform semantic segmentation on the target tailings pond to obtain beach model data information and tailings dam model data information; The beach model data information includes a beach digital surface model; the tailings dam model data information includes a tailings dam digital surface model; A coordinate system is established with the axis of the tailings dam along the flow direction of the ore pipe as the X-axis direction, the direction perpendicular to the dam axis and along the reservoir area of ​​the target tailings pond as the Y-axis direction, and the elevation direction as the Z-axis direction.

6. The tailings pond discharge method based on drone according to claim 5, Features The step S5, based on the tailings dam model data information obtained in step S4, obtains the ore discharge pipeline information of the target tailings pond, which specifically includes the following steps: Based on the tailings dam model data information obtained in step S4, the location information of the connection between each ore-discharging branch pipe and the ore-discharging main pipe on the tailings dam top is extracted on the digital surface model of the tailings dam; and finally N location information is obtained, where N is the number of ore-discharging branch pipes.

7. The tailings pond discharge method based on drone according to claim 6, Features The step S6 sets the monitoring line according to the beach model data information obtained in step S4, and combines the ore-releasing pipeline information and elevation information obtained in step S5 to complete the ore-releasing of the tailings pond based on the drone, which specifically includes the following steps: On the beach surface digital surface model obtained in step S4, a beach surface monitoring line is set in a direction parallel to the axis of the tailings dam, and the beach surface monitoring line is x meters away from the beach top; On the monitoring line, the monitoring line is divided into equal intervals according to the set intervals; the distribution data of the monitoring line is obtained in the X-axis-Z-axis plane; Based on the distribution data of the monitoring lines, the tailings pond is discharged according to the following rules: Rule 1: On the monitoring line, if the maximum value of the difference between the Z-axis coordinates of each segmentation point is less than or equal to the first set value, the existing ore-dropping mode is maintained; Rule 2: On the monitoring line, if the Z-axis coordinate value of each segmentation point changes with the X-axis coordinate value, and the maximum value of the difference of the Z-axis coordinates of each segmentation point is greater than the second set value, then obtain the X-axis coordinates of the segmentation points whose Z-axis coordinate difference is greater than the second set value, and construct set A; then make a judgment: among the position information obtained in step S5, if there is an i-th position information in set A, then ore is released at the ore-release branch pipe corresponding to the i-th position information; The Z-axis coordinate value changes with the X-axis coordinate value, which is defined as the Z-axis coordinate increases when the X-axis coordinate increases, or the Z-axis coordinate decreases when the X-axis coordinate increases; Rule 3: In the location information obtained in step S5, for each location information, the following judgment is performed: For the i-th position (i x ,i y ),i x is the X-axis coordinate of the i-th position, i y is the Y-axis coordinate of the i-th position. If (i x -t 1 )~(i x +t 2 ) area, if the maximum value of the difference between the Z-axis coordinates of each segmentation point is less than or equal to the third set value, the existing ore-dropping mode is maintained; t 1 is the lower limit range value set, t 2 is the upper limit range value set, and t 1 and t 2 All are greater than 0; Rule 4: For each piece of location information obtained in step S5, the following judgment is performed: For the i-th position (i x ,i y ),i x is the X-axis coordinate of the i-th position, i y is the Y-axis coordinate of the i-th position. If (i x -t 1 )~(i x +t 2 ) area, if the maximum value of the difference between the Z-axis coordinates of each segmentation point is greater than the fourth set value, the i-th position is added to the set B; Ore is released at the ore-releasing branch pipe corresponding to each position information in set B.

8. A system for implementing the tailings pond discharge method based on drones as claimed in any one of claims 1 to 7, Features It includes a data acquisition module, a data reconstruction module, a three-dimensional modeling module, a semantic segmentation module, a pipeline acquisition module and a tailings pond discharge module; the data acquisition module, the data reconstruction module, the three-dimensional modeling module, the semantic segmentation module, the pipeline acquisition module and the tailings pond discharge module are connected in series in sequence; the data acquisition module is used to use a drone to survey and map the target tailings pond, and obtain data information of the target tailings pond, and upload the data information to the data reconstruction module; the data reconstruction module is used to reconstruct the acquired data information according to the received data information, obtain model data information of the target tailings pond, and upload the data information to the three-dimensional modeling module; the three-dimensional modeling module is used to perform three-dimensional modeling according to the received data information and the model data information, obtain three-dimensional model data of the target tailings pond, and upload the data information to the semantic segmentation module; The semantic segmentation module is used to perform semantic segmentation on the target tailings pond according to the received data information and the three-dimensional model data using a semantic segmentation method, obtain the beach model data information and the tailings dam model data information, and upload the data information to the pipeline acquisition module; the pipeline acquisition module is used to obtain the discharge pipeline information of the target tailings pond according to the received data information and the tailings dam model data information, and upload the data information to the tailings pond discharge module; the tailings pond discharge module is used to set a monitoring line according to the received data information and the beach model data information, and complete the discharge of the tailings pond based on the drone in combination with the discharge pipeline information and elevation information obtained in step S5.

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