Ecological maintenance method and system for repaired mine, electronic equipment and medium

Abstract

The invention relates to a restored mine ecological maintenance method and system, electronic equipment and a medium, and relates to the field of ecological restoration, and the method comprises the steps: obtaining a current side slope image of a mine side slope, soil humidity values of a plurality of regions on the mine side slope, and historical soil humidity values of each region between two adjacent irrigation; based on the side slope image, whether a first side slope area which is not covered by the current irrigation exists in the mine side slope or not is judged, if the target side slope area exists, area information of the target side slope area is determined, and the area information comprises the position of each target side slope area; the target side slope areas comprise the first side slope area and / or the second side slope area with the soil humidity value not reaching the preset humidity threshold value, determining an irrigation tool corresponding to each target side slope area based on the position, and controlling the irrigation tool corresponding to each target side slope area to water based on the area information and the historical soil humidity value. The method has the effect of improving the comprehensiveness of mine slope maintenance.

Description

Technical Field

[0001] The present application relates to the field of ecological restoration, and in particular to a method, system, electronic equipment and medium for ecological maintenance of a restored mine. Background Art

[0003] At present, the ecological restoration of mines is mainly carried out by spraying soil layers, water-locking agents, fertilizers and plant seeds on the mine slopes. After the spraying is completed, maintenance irrigation and other methods are used. However, due to the large range and complex terrain of the mine slopes, this maintenance method can easily lead to omission of some areas on the slopes during watering, and the maintenance irrigation is not comprehensive. Plants in the omitted areas grow slowly, reducing the effect of ecological restoration. Summary of the invention

[0004] In order to improve the comprehensiveness of mine slope maintenance, the present application provides a method, system, electronic equipment and medium for ecological maintenance of a repaired mine.

[0005] In the first aspect, the present application provides a method for ecological maintenance of a restored mine, which adopts the following technical solution: A method for ecological maintenance of a restored mine, comprising: Obtain the current slope image of the mine slope, the soil moisture values ​​of multiple areas on the mine slope, and the historical soil moisture values ​​of each area between two adjacent irrigations; Determining, based on the slope image, whether there is a first slope area on the mine slope that is not covered by the current irrigation; If there is a target slope area, determining the area information of the target slope area, the area information including the position of each target slope area, the target slope area including a first slope area and / or a second slope area where a soil moisture value does not reach a preset moisture threshold; Determine the irrigation tools corresponding to each target slope area based on the position, wherein the irrigation tools include a watering vehicle and a watering drone; Based on the regional information and the historical soil moisture value, the irrigation tool corresponding to each target slope area is controlled to water.

[0006] By adopting the above technical solution, after an irrigation operation, soil moisture values ​​and historical soil moisture values ​​of multiple areas are obtained to facilitate the subsequent determination of the irrigation water volume of each area, and the slope image is obtained to facilitate the judgment through the slope image whether there is a first slope area that is not covered during the irrigation operation, the first slope area and the second slope area whose soil moisture value does not reach the preset soil moisture threshold, that is, the target slope area. The target slope area cannot provide the moisture required for plant growth in this irrigation operation and both require supplementary watering. Therefore, if there is a target slope area, the regional information of the target slope area is determined. The regional information represents the specific situation in each target slope area, wherein the regional information includes the location of each target slope area. Due to the different locations of the target slope areas, the suitable irrigation tools are different, so the irrigation tools corresponding to each target slope area are determined. The regional information and historical soil moisture values ​​are both capable of representing the specific situation of each target slope area and the soil in the area. Therefore, according to the regional information and historical soil moisture values, the corresponding irrigation tools can be controlled to perform supplementary watering, thereby making the ecological maintenance of the repaired mine more comprehensive, thereby improving the maintenance effect.

[0007] In another possible implementation, the area information includes an altitude value of the target slope area, and determining the irrigation tool corresponding to each target slope area based on the area information includes: If there is a first target slope area whose altitude value reaches the preset altitude threshold, the irrigation tool corresponding to the first target slope area is determined to be a watering drone; If there is a second target slope area whose altitude value does not reach the preset altitude threshold, the irrigation tool corresponding to the second target slope area is determined to be a sprinkler vehicle.

[0008] In another possible implementation, the regional information further includes a slope value and a soil thickness of a target slope region, the historical soil moisture value corresponds to historical meteorological information, and the controlling of the irrigation tool corresponding to each target slope region to water based on the regional information and the historical soil moisture value includes: Acquire current weather forecast information, calculate the similarity between the current weather forecast information and each historical meteorological information between two adjacent irrigations, and determine the target historical meteorological information with the highest similarity; Determine the humidity change rate of the historical soil moisture value corresponding to the target historical meteorological information; Determine the score of each target slope area based on the moisture change rate, soil thickness, slope value and their corresponding coefficients; Determine a target score interval in which the score is located from a plurality of preset score intervals, each preset score interval corresponding to a preset irrigation water volume; Determine the preset irrigation water volume of the target score interval as the first irrigation water volume of the second slope area, determine the area of ​​each first slope area based on the slope image, determine a first ratio of the area to a preset area, and determine the second irrigation water volume of each first slope area based on the first ratio and the target score interval, wherein the preset area is the area of ​​each area; The irrigation tool corresponding to each target slope area is controlled to water based on the first irrigation water volume and the second irrigation water volume.

[0009] In another possible implementation, the method further includes: Obtaining an original image of the mine slope before restoration; Dividing the original image based on the multiple regions to obtain multiple regional images; Performing feature recognition on the multiple regional images to obtain the number of gravels and the number of cracks in each regional image; Determine the compensation score for each area based on the number of gravels, the number of cracks and their corresponding weights; The irrigation water volume of each target slope area is compensated based on the compensation score.

[0010] In another possible implementation, the irrigation water volume includes the first irrigation water volume and the second irrigation water volume. If there is a target first slope area in the first slope area where the irrigation tool is a watering drone, the watering drone is connected to the watering vehicle through a water pipe, and the irrigation tool corresponding to each target slope area is controlled to water based on the first irrigation water volume and the second irrigation water volume, the method includes: Determine the contour of each target first slope area based on the slope image; Determine an approximate shape of the target first slope area from a plurality of preset approximate shapes based on the contour, each preset approximate shape corresponding to a watering route of the watering drone; If any irrigation tool is a sprinkler vehicle and there is a target first slope area within the preset range of the second target slope area, and the irrigation water volume of the target first slope area within the preset range is greater than the irrigation water volume of the second target slope area, then determine a second ratio of the irrigation water volume of the second target slope area to the irrigation water volume of the target first slope area within the preset range; determining an irrigation time for the second target side slope area based on the irrigation water volume and the reference water pressure of the second target side slope area; Determining the water pressure of the target first slope area within the preset range based on the second ratio and the reference water pressure; Determine the length of the watering route based on the area of ​​the target first slope region within the preset range and the watering route; The flying speed of the watering drone is determined based on the length and the irrigation time, and the watering drone is controlled to perform watering based on the flying speed and the watering route.

[0011] In another possible implementation, the method further includes: Determine the total irrigation water volume for all target slope areas; Determining the number of sprinkler vehicles based on the total amount of irrigation water and the water storage capacity of each sprinkler vehicle; If the number is not less than two, the mine slope is divided based on the number to obtain the same number of working areas as the number, and the amount of irrigation water in each working area is the same; Each watering vehicle is controlled to water based on the working area.

[0012] In the second aspect, the present application provides a repaired mine ecological maintenance system, which adopts the following technical solution: A restored mine ecological maintenance system, comprising: Multiple humidity sensors are used to collect soil moisture values ​​in multiple areas on the mine slope; UAVs, used to collect slope images; an electronic device, which is communicatively connected with the multiple humidity sensors and the drone, and is used to obtain a current slope image of a mine slope, soil humidity values ​​of multiple areas on the mine slope, and historical soil humidity values ​​of each area between two adjacent irrigations, and to determine whether there is a first slope area on the mine slope that is not covered by irrigation based on the slope image; if there is a target slope area, then determine the area information of the target slope area, the area information includes the position of each target slope area, the target slope area includes the first slope area and / or the second slope area where the soil humidity value does not reach a preset humidity threshold; based on the position, determine the irrigation tool corresponding to each target slope area, the irrigation tool includes a watering vehicle and a watering drone; and based on the area information and the historical soil humidity value, control the irrigation tool corresponding to each target slope area to water; An irrigation tool is communicatively connected with the electronic device and is used for watering the target slope area. The irrigation tool includes a watering vehicle and a watering drone.

[0013] By adopting the above technical solution, after an irrigation operation, the electronic device obtains soil moisture values ​​of multiple areas collected by multiple humidity sensors, and obtains historical soil moisture values, so as to facilitate the subsequent determination of the irrigation water volume of each area. The electronic device obtains the slope image collected by the drone, so that the electronic device can judge whether there is a first slope area that is not covered during the irrigation operation through the slope image. The first slope area and the second slope area whose soil moisture value does not reach the preset soil moisture threshold, that is, the target slope area. The target slope area cannot provide the moisture required for plant growth in this irrigation operation and needs to be supplemented with water. Therefore, if there is a target slope area, the electronic device determines the area information of the target slope area. The area information represents the specific situation in each target slope area, wherein the area information includes the position of each target slope area. Due to the different positions of the target slope areas, the suitable irrigation tools are different. Therefore, the electronic device determines the irrigation tool corresponding to each target slope area. The area information and the historical soil moisture values ​​are both capable of representing the specific situation of each target slope area and the soil in the area. Therefore, the electronic device can control the corresponding irrigation tool to supplement watering according to the area information and the historical soil moisture values, so that the ecological maintenance of the repaired mine is more comprehensive, thereby improving the maintenance effect.

[0014] In another possible implementation, the watering vehicle includes a vehicle body, a water storage tank arranged on the vehicle body, a first water pipe connected to the water storage tank, a first spray gun connected to the first water pipe, a second water pipe connected to the water storage tank, and a second spray gun connected to the second water pipe, and the watering drone is fixedly connected to the second spray gun.

[0015] By adopting the above technical solution, the watering drone lifts the second spray gun and flies above the first target slope area to water the first target slope area. At the same time, the second spray gun waters the second target slope area, thereby improving the watering efficiency and reducing the operation time.

[0016] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device, comprising: at least one processor; Memory; At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and at least one is configured to: execute a method for ecological maintenance of a restored mine as shown in any possible implementation of the first aspect.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute a method for ecological conservation of a restored mine as described in any one of the first aspects.

[0018] In summary, the present application includes at least one of the following beneficial technical effects: After an irrigation operation, soil moisture values ​​and historical soil moisture values ​​of multiple areas are obtained to facilitate the subsequent determination of the irrigation water volume of each area. Slope images are obtained to facilitate the determination of whether there is a first slope area that is not covered during the irrigation operation. The first slope area and the second slope area whose soil moisture value does not reach the preset soil moisture threshold, namely the target slope area, cannot provide the moisture required for plant growth in this irrigation operation and both require supplementary watering. Therefore, if there is a target slope area, the regional information of the target slope area is determined. The regional information represents the specific situation in each target slope area, wherein the regional information includes the location of each target slope area. Due to the different locations of the target slope areas, the suitable irrigation tools are different. Therefore, the irrigation tools corresponding to each target slope area are determined. The regional information and historical soil moisture values ​​are both capable of representing the specific situation of each target slope area and the soil in the area. Therefore, the corresponding irrigation tools can be controlled according to the regional information and historical soil moisture values ​​for supplementary watering, thereby making the ecological maintenance of the restored mine more comprehensive and improving the maintenance effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a method for ecological maintenance of a restored mine according to an embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of a specific process of controlling an irrigation tool to water in an embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of a specific process for compensating irrigation water volume in an embodiment of the present application.

[0022] Figure 4 It is a structural schematic diagram of a restored mine ecological maintenance system in an embodiment of the present application.

[0023] Figure 5 It is a structural schematic diagram of the irrigation tool in the embodiment of the present application.

[0024] Figure 6 It is a structural schematic diagram of a repaired mine ecological maintenance device in an embodiment of the present application.

[0025] Figure 7 It is a structural schematic diagram of an electronic device according to an embodiment of the present application.

[0026] Description of the drawings: 1. Soil moisture sensor; 2. UAV; 3. Electronic device; 31. Processor; 32. Bus; 33. Memory; 34. Transceiver; 4. Irrigation tool; 41. Irrigation vehicle; 411. Vehicle body; 412. Water storage tank; 413. First water pipe; 414. First spray gun; 42. Watering UAV; 421. Second water pipe; 422. Second spray gun; 5. A device for ecological maintenance of restored mines; 51. Data acquisition module; 52. Judgment module; 53. Regional information determination module; 54. Irrigation tool determination module; 55. First watering control module. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings.

[0028] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of this application.

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0031] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0032] The embodiment of the present application provides a method for ecological maintenance of a restored mine, which is performed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. Figure 1As shown, the method includes step S101, step S102, step S103, step S104 and step S105, wherein: S101, obtaining a current slope image of a mine slope, soil moisture values ​​of multiple areas on the mine slope, and historical soil moisture values ​​of each area between two adjacent irrigations.

[0033] For the embodiment of the present application, after each irrigation operation is completed, the electronic device can control the drone to collect slope images, and then the electronic device obtains the slope images to facilitate subsequent analysis of this irrigation operation.

[0034] Since the mine slope covers a large area, the staff can divide the mine slope into multiple areas, such as several-by-several grid areas, and then set a soil moisture sensor at the center of each area. The soil moisture value at the center position can more accurately represent the soil moisture value of the entire area. The soil moisture value of each area is collected, and the soil moisture sensor is connected to the electronic device through a wire or wirelessly, so that the electronic device can obtain the soil moisture value of each area. The soil moisture value makes it easy to know the effect of this irrigation operation.

[0035] After each irrigation operation and before the next irrigation operation, the electronic device can obtain the soil moisture value of each area in real time, or at preset time intervals, and then store it in the local storage medium of the electronic device or in the cloud server, that is, the historical soil moisture value. The electronic device obtains the historical soil moisture value, and the historical soil moisture value is used to facilitate the understanding of the humidity changes in each area after each watering and irrigation.

[0036] S102: judging, based on the slope image, whether there is a first slope area on the mine slope that is not covered by the current irrigation.

[0037] For the embodiment of the present application, the electronic device can input the slope image into the trained network model for region identification to obtain the first slope area that is not covered in this irrigation. The first slope area may be located in an area where multiple areas intersect or where the soil moisture sensor cannot collect soil moisture values. Among them, the network model can be a convolutional neural network model, a recurrent neural network model, or other types of network models, which are not limited here. The trained network model is obtained by performing supervised training on the network model with a training sample set. For example, two training samples are "slope image 1" and the corresponding label is "irrigated" and the corresponding label of "slope image 2" is "not irrigated". The staff can collect and produce a large number of training samples such as the above examples to obtain a training sample set.

[0038] The electronic device can also perform denoising on the slope image, and then perform grayscale transformation on the denoised slope image to obtain a grayscale image. Since the soil color changes before and after watering, the area not covered by irrigation can be determined based on the grayscale image. Determining the area not covered by watering by using a network model or image processing is a prior art and will not be described in detail here.

[0039] S103: If the target slope area exists, determine the area information of the target slope area.

[0040] The area information includes the location of the target slope area, and the target slope area includes a first slope area and / or a second slope area where a soil moisture value does not reach a preset moisture threshold.

[0041] For the embodiment of the present application, the preset humidity threshold is used as the dividing point for whether the watering and irrigation are qualified. If the preset humidity threshold is reached, it means that the irrigation effect is good, otherwise it is poor, and additional watering is needed to meet the moisture required for plant growth. The first slope area and the second slope area are both areas that need additional watering, that is, the target slope area. In order to better water the target slope area, the electronic device determines the regional information of each area, and the regional information represents the specific situation of each area, including the location of each area, and the location can be represented by the geographical location coordinates of the center point of each area.

[0042] S104, determining the irrigation tool corresponding to each target slope area based on the position.

[0043] Among them, irrigation tools include sprinkler vehicles and sprinkler drones.

[0044] Specifically, the location includes the altitude value of the target slope area, and the irrigation tool corresponding to each target slope area is determined based on the location, which specifically includes the following two steps: If there is a first target slope area whose altitude value reaches the preset altitude threshold, the irrigation tool corresponding to the first target slope area is determined to be a watering drone.

[0045] If there is a second target slope area whose altitude value does not reach the preset altitude threshold, the irrigation tool corresponding to the second target slope area is determined to be a sprinkler vehicle.

[0046] For the embodiments of the present application, different locations correspond to different irrigation tools, so the irrigation tools corresponding to each area can be determined according to the location. Irrigation tools include sprinkler vehicles and drones. Sprinkler vehicles are suitable for watering areas with lower altitudes, and sprinkler drones are suitable for watering areas with higher altitudes. The altitude of the working surface of the sprinkler vehicle is collected by an altitude sensor, and then the preset altitude threshold is obtained by summing the maximum water spraying height of the sprinkler vehicle, that is, the maximum altitude of watering by the sprinkler vehicle. Assuming that the preset altitude threshold is 100 meters (m), if there is a first target slope area with an altitude value of 100m, the irrigation tool corresponding to the first target slope area is determined to be a sprinkler drone. Conversely, if there is a second target slope area with an altitude value that does not reach the preset altitude threshold, the irrigation tool corresponding to the second target slope area is determined to be a sprinkler vehicle.

[0047] S105, controlling the irrigation tools corresponding to each target slope area to water based on the area information and historical soil moisture values.

[0048] For the embodiment of the present application, since the regional information records the specific conditions of each target slope area, the historical soil moisture value represents the specific conditions of the soil in each target slope area, that is, the regional information and the historical soil moisture values ​​are both key factors affecting the supplementary watering operation. Therefore, the electronic device controls the irrigation tools corresponding to each target slope area according to the regional information and the historical soil moisture values ​​to achieve better irrigation effect, and the ecological maintenance of the restored mine is more comprehensive and balanced.

[0049] In a possible implementation of the embodiment of the present application, the regional information also includes the slope value and soil thickness of the target slope area, and the historical soil moisture value corresponds to the historical meteorological information. In step S105, the irrigation tool corresponding to each target slope area is controlled to water based on the regional information and the historical soil moisture value, including steps S1051, S1052, S1053, S1054, S1055 and S1056. Figure 2 As shown, S1051, obtaining current weather forecast information, calculating the similarity between the current weather forecast information and each historical meteorological information between two adjacent irrigations, and determining the target historical meteorological information with the highest similarity.

[0050] For the embodiments of the present application, the electronic device can obtain the current weather forecast information of the mine slope through the Internet, such as a meteorological website. Since the historical soil moisture values ​​between two adjacent irrigations correspond to the historical meteorological information, and the weather forecast information and the historical meteorological information are composed of sunny, cloudy, etc. and temperature, the electronic device calculates the similarity between the current weather forecast information and each historical meteorological information. Specifically, the electronic device can input the current weather forecast information and each historical meteorological information into a trained network model to perform similarity calculation, obtain the similarity between the current weather forecast information and each historical meteorological information, and then determine the target historical meteorological information with the highest similarity. The meteorological conditions of the target historical meteorological information are close to the current weather forecast information, and the corresponding historical soil moisture value has the highest similarity with the next soil moisture value change in the target slope area. The network model can be a convolutional neural network model or other types of network models.

[0051] S1052, determining the humidity change rate of the historical soil moisture value corresponding to the target historical meteorological information.

[0052] For the embodiment of the present application, a coordinate system in which humidity changes over time is pre-stored in the electronic device. The electronic device can map the historical soil moisture values ​​of the target historical meteorological information in the above coordinate system to obtain a line graph, and then perform linear fitting or nonlinear fitting on the line graph to obtain a function. The humidity change rate can be determined based on the slope or other characteristics of the function. Performing linear fitting or nonlinear fitting and determining the humidity change rate is a prior art and will not be described in detail here.

[0053] S1053, determining the score of each target slope area based on the moisture change rate, soil layer thickness, slope value and their corresponding coefficients.

[0054] For the embodiments of the present application, the staff can collect point cloud data of the mine slope for 3D modeling before the mine is repaired, and then collect point cloud data for 3D modeling after the mine is repaired. The electronic device can determine the soil thickness of the mine slope based on the difference between the above two 3D models, and then map the multiple areas to obtain the soil thickness of each area, and then obtain the soil thickness of each target slope area. The slope value can be measured by the staff in advance using an instrument for measuring the slope, such as an angle sensor, to obtain the slope value of each area, and then input and store it in the electronic device, or the slope value of each area can be obtained by 3D modeling.

[0055] The greater the humidity change rate, the faster the water in the soil evaporates and loses, and the more water is needed for watering, and vice versa. The thicker the soil layer, the stronger the ability to retain water, the more developed the plant root system, the more water it absorbs, and the soil layer needs to be irrigated thoroughly, so the more water is needed, and vice versa. The larger the slope value, the more water is lost by gravity after watering, and the more water is needed for watering, and vice versa. In summary, the humidity change rate, soil thickness, and slope value are all important factors affecting the amount of water required in the target slope area, and the degree of influence on the required amount of water is different. Therefore, different coefficients are set for the humidity change rate, soil thickness, and slope value. Assume that the coefficient corresponding to the humidity change rate is 8, the coefficient corresponding to the soil thickness is 0.5, and the coefficient corresponding to the slope value is 0.1. The humidity change rate of a certain target slope area is a 15% reduction in water per day (d), that is, 0.15 / d, the soil thickness is 10 centimeters (cm), and the slope value is 5°. The electronic device determines that the score of the target slope area is 0.15×8+10×0.5+5×0.1=11.2. The score represents the required moisture level of each target slope area more accurately and intuitively. Among them, the coefficients of the three can be adaptively modified according to actual conditions or needs.

[0056] S1054, determining a target score interval from a plurality of preset score intervals, each preset score interval corresponding to a preset irrigation water volume.

[0057] S1055, determine the preset irrigation water volume in the target score interval as the first irrigation water volume of the second slope area, determine the area of ​​each first slope area based on the slope image, determine a first ratio of the area to the preset area, and determine the second irrigation water volume of each first slope area based on the first ratio and the target score interval.

[0058] The preset area is the area of ​​each region.

[0059] For the embodiment of the present application, the staff can determine the preset score interval and the irrigation water volume corresponding to each preset score interval in advance through experiments or calculations, and then store the preset score interval and the corresponding irrigation water volume in the local storage medium of the electronic device. After the electronic device determines the score of each target slope area, it determines the preset score interval hit by the score, that is, the target score interval, and determines the irrigation water volume corresponding to the target score interval as the irrigation water volume of the target slope area. The preset score interval and the corresponding irrigation water volume are set according to the unit area (the area of ​​each area).

[0060] For example, there are five preset score intervals, namely (0, 5], (5, 10], (10, 15], (15, 20] and (20, 25]. The corresponding irrigation water volumes are 0.1 tons (t), 0.2t, 0.3t, 0.4t and 0.5t respectively. Taking step S1053 as an example, the target slope area is the second target slope area, and the score hits the (10, 15] interval, so the first irrigation water volume of the second target slope area is 0.3t.

[0061] Assuming that there is a first slope area, the electronic device determines the outline of the first slope area through the slope image and determines the number of pixels within the outline. Since the drone collects the slope image at a specified height, the scale is fixed, that is, the area corresponding to the pixel is the reference area, and the area of ​​the first slope area can be determined by the sum of the number of pixels. Since multiple areas are equally divided on the mine slope, the area of ​​each area is the same, which is the preset area. The electronic device determines the first ratio of the area of ​​the first slope area to the preset area, and the second irrigation water volume of the first slope area can be obtained by multiplying the first ratio by the preset irrigation water volume of the target score interval corresponding to the first slope area.

[0062] By using the above method, several factors that have the greatest impact on the amount of irrigation water are utilized, and by using scores and then going into a preset score range, the determination of the amount of irrigation water is made more intuitive and accurate.

[0063] S1056: Control the irrigation tools corresponding to each target slope area to water based on the first irrigation water volume and the second irrigation water volume.

[0064] For the embodiment of the present application, after determining the first irrigation water volume and the second irrigation water volume, the electronic device can specifically control the sprinkler vehicle or sprinkler drone to perform supplementary watering and irrigation, thereby improving the maintenance effect and making the watering and irrigation more comprehensive.

[0065] In a possible implementation manner of the embodiment of the present application, the method further includes step S1, step S2, step S3, step S4 and step S5. Figure 3 As shown, step S1 can be performed after step S1055, wherein: S1, obtain the original image of the mining slope before restoration.

[0066] For the embodiment of the present application, the staff can use the drone to collect the original image of the mine slope before restoration in advance, and then store it in the local storage medium inside the electronic device, so as to facilitate the acquisition of the original image.

[0067] S2, dividing the original image based on the multiple regions to obtain multiple regional images.

[0068] In the embodiment of the present application, the electronic device maps multiple regions on the original image to obtain a regional image corresponding to each region. The regional image makes it easy to know the surface condition of each region before repair.

[0069] S3, performing feature recognition on the multiple regional images to obtain the number of gravels and cracks in each regional image.

[0070] For the embodiment of the present application, the electronic device can input multiple regional images into a trained network model for feature recognition, thereby identifying the number of gravels and cracks in each regional image. The network model can be a convolutional neural network model or other network models, which are not limited here.

[0071] S4, determining a compensation score for each area based on the number of gravels, the number of cracks, and their corresponding weights.

[0072] For the embodiment of the present application, the more gravel and cracks there are, the better the effect of absorbing and storing water is, the plant roots can spread and grow in the gravel and cracks, and the more water is needed for watering and irrigation. Therefore, the irrigation water volume can be compensated according to the number of gravel and cracks, and different weights are set for the number of gravel and cracks. Assuming that the weight corresponding to the number of gravel is 0.6, and the weight corresponding to the number of cracks is 0.4, the number of gravel in a target slope area is 200, and the number of cracks is 30, the electronic device determines that the compensation score of the target slope area is 200×0.6+30×0.4=132. The degree of compensation water volume is concretized by the compensation score, which is more intuitive and accurate. It should be known that the weights of the two can be adaptively adjusted according to actual conditions or needs.

[0073] The first slope area is the area that needs additional watering identified by the slope image, so the first slope area may be irregular and composed of parts of multiple standard areas. If the target slope area is the first slope area, the first slope area is mapped to the original image to obtain the regional image of the first slope area, and then feature recognition is performed to obtain the number of gravels and cracks in the first slope area.

[0074] S5, compensating the irrigation water volume of each target slope area based on the compensation score.

[0075] For the embodiment of the present application, the staff can determine multiple preset compensation score intervals and the compensation water volume corresponding to each preset compensation score interval in advance through experiments or calculations, and then store the preset compensation score intervals and the corresponding compensation water volume in the local storage medium of the electronic device. After the electronic device determines the compensation score of each target slope area, it determines the preset compensation score interval hit by the score, that is, the target compensation score interval, and determines the compensation water volume corresponding to the target score interval as the compensation water volume of the target slope area. By analyzing the slope surface conditions of each target slope area before repair, the irrigation water volume is compensated, so that irrigation and watering are more thorough and the maintenance effect is improved.

[0076] A possible implementation of the embodiment of the present application is that the irrigation water volume includes a first irrigation water volume and a second irrigation water volume. If there is a target first slope area in the first slope area where the irrigation tool is a sprinkler drone, the sprinkler drone is connected to the sprinkler vehicle through a water pipe, and step S1056 controls the irrigation tool corresponding to each target slope area to water based on the first irrigation water volume and the second irrigation water volume, specifically including step 1, step 2, step 3, step 4, step 5, step 6 and step 7, wherein step 1 can be executed after step S104, wherein, Step 1: Determine the contour of each target first slope area based on the slope image.

[0077] For the embodiment of the present application, after the electronic device obtains the first slope area through the slope image, the first slope area is mapped on the slope image to obtain the range of the first slope area, and then the contour of the first slope area is obtained.

[0078] Step 2: Determine the approximate shape of the target first slope area from a plurality of preset approximate shapes based on the contour, each preset approximate shape corresponds to a watering route of the watering drone.

[0079] For the embodiment of the present application, the electronic device calculates the similarity between the contour of the target first slope area and multiple preset approximate shapes. Since each preset approximate shape corresponds to a watering route planned by the staff, the electronic device determines the watering route of the preset approximate shape with the highest similarity as the watering route of the target first slope area.

[0080] Specifically, the similarity between the contour and the plurality of preset approximate shapes can be calculated by the structural similarity measure (SSIM). It can also be calculated by the cosine similarity, that is, the contour and the preset approximate shape are converted into an image, and then the image is represented as a vector, and the cosine distance between the vectors is calculated to characterize the similarity of the two images. The similarity can also be calculated by a histogram, and the similarity can also be calculated by other methods, which are not limited here.

[0081] Step three, if any irrigation tool is a sprinkler vehicle and there is a target first slope area within the preset range of the second target slope area, and the irrigation water volume of the target first slope area within the preset range is greater than the irrigation water volume of the second target slope area, then determine a second ratio of the irrigation water volume of the second target slope area to the irrigation water volume of the target first slope area within the preset range.

[0082] For the embodiment of the present application, the watering vehicle includes a water tank, the water tank is connected to a first water pipe, and a section of the first water pipe away from the water tank is connected to a first spray gun. The water tank is also connected to a second water pipe, and a section of the second water pipe away from the water tank is connected to a second spray gun, and the second spray gun is fixedly connected to the watering drone, and the first water pipe and the second water pipe are both hoses. When the watering vehicle waters a second slope area, the preset range is a fan-shaped area with the length of the second water pipe as the radius, with the watering vehicle as the center. If there is a target first slope area within the preset range, the watering vehicle and the drone can work at the same time to water the two target slope areas at the same time. If the irrigation water volume of the target first slope area within the preset range is greater than the irrigation water volume of the second target slope area, it means that when the watering of the second target slope area is completed, the watering operation of the first slope area within the preset range is not completed, resulting in slow operation of the watering vehicle and low overall watering operation. In order to synchronize the watering operations of the two target slope areas, the electronic device determines the second ratio of the irrigation water volume of the two target slope areas to the irrigation water volume. After the second ratio is determined, it is convenient to synchronize the subsequent watering operations.

[0083] Step 4: determining the irrigation time of the second target slope area based on the irrigation water volume and the reference water pressure of the second target slope area.

[0084] For the embodiment of the present application, the first spray gun and the second spray gun have the same reference water pressure and the same unit flow rate when performing watering operations. The irrigation time for completing the watering operation of the second target slope area is determined based on the irrigation water volume of the second target slope area and the reference water pressure. That is, the target first slope area also needs to complete the watering operation within the irrigation time.

[0085] Step 5: Determine the water pressure of the target first slope area within a preset range based on the second ratio and the reference water pressure.

[0086] For the embodiment of the present application, the electronic device increases the reference water pressure according to the determined second ratio and the reference water pressure, thereby determining the water pressure during the watering operation corresponding to the target first slope area within the preset range.

[0087] Step six: determine the length of the watering route based on the area of ​​the target first slope region within the preset range and the watering route.

[0088] For the embodiment of the present application, the preset approximate shape corresponds to a preset area. After the electronic device determines the area of ​​the target first slope area, it determines the ratio of the target first slope area to the preset area, maps the watering route on the regional image of the target first slope area and enlarges it proportionally, and determines the number of pixels of the watering route. Since the area corresponding to each pixel is known, the side length of each pixel is known, and then the length of the watering route is obtained.

[0089] Step seven, determine the flight speed of the sprinkler drone based on the length and irrigation time, and control the sprinkler drone to water based on the flight speed and the sprinkler route.

[0090] For the embodiment of the present application, the electronic device determines the flight speed of the watering drone based on the length of the watering route and the irrigation time, and controls the watering drone to water at the determined flight speed, thereby synchronizing the operations of the watering vehicle and the watering drone, starting and ending simultaneously, thereby improving watering efficiency and shortening watering time.

[0091] In other embodiments, the drone may hover above the target first slope area and work according to the watering route by controlling the angle change of the second spray gun, so the electronic device may determine the angle change speed of the second spray gun according to the irrigation time to achieve synchronization.

[0092] In a possible implementation manner of the embodiment of the present application, the method further includes step eight, step nine, step ten and step eleven, wherein step eight may be performed after step S1056, wherein: Step 8: Determine the total amount of irrigation water for all target slope areas.

[0093] Step nine, determining the number of sprinkler trucks based on the total irrigation water volume and the water storage capacity of each sprinkler truck.

[0094] Step 10: If the number is not less than two, the mine slope is divided based on the number to obtain a working area equal to the number.

[0095] The amount of irrigation water in each working area is the same.

[0096] Step eleven, controlling each sprinkler vehicle to water based on the working area.

[0097] For the embodiment of the present application, after the electronic device determines the irrigation water volume of each target slope area, a sum operation is performed to determine the total irrigation water volume. Since the water storage capacity of each sprinkler vehicle water tank is the same, the electronic device divides the total irrigation water volume by the water storage capacity to determine the number of sprinkler vehicles required. If the value of the total irrigation water volume divided by the water storage capacity is less than one, the number of sprinkler vehicles required is one, and if it is greater than one, it is necessary to round up and add one sprinkler vehicle.

[0098] If the electronic device determines that the number of required sprinkler trucks is not less than two, it means that the mine slope needs to be divided into working areas equal to the number of sprinkler trucks. Each sprinkler truck corresponds to a working area and waters the target slope area in the working area. Since the amount of irrigation water in each working area is consistent, the water storage capacity of the sprinkler truck in each working area is sufficient for the watering needs in this area. The electronic device sends a control instruction to each sprinkler truck to control the sprinkler truck to perform watering operations in the working area. If it is detected that the sprinkler truck enters other working areas, the sprinkler truck is controlled to stop moving to prevent interference with the work of sprinkler vehicles in other working areas. Specifically, the electronic device can obtain the geographic location coordinates of the two boundaries of each working area, and then obtain the geographic location coordinates of each sprinkler truck in real time, and determine whether it has invaded other working areas based on the geographic location coordinates. By determining the number of sprinkler trucks and the working area of ​​each sprinkler truck based on the total amount of irrigation water, the watering efficiency is improved.

[0099] The present application embodiment discloses a repaired mine ecological maintenance system, such as Figure 4 As shown, a repaired mine ecological maintenance system includes multiple humidity sensors 1, drones 2, electronic devices 3, and irrigation tools 4. The humidity sensor 1 and the electronic device 3 are connected and communicated through wires or wirelessly, and the data acquisition end of the humidity sensor 1 can be buried in the soil layer at the center of each area to collect soil moisture values ​​in multiple areas on the mine slope. The drone 2 is connected to the electronic device 3 by wireless, and an image acquisition device is provided on the drone to collect slope images after each irrigation operation is completed and obtained by the electronic device 3.

[0100] The electronic device 3 obtains the current slope image of the mine slope, the soil moisture values ​​of multiple areas on the mine slope, and the historical soil moisture values ​​of each area between two adjacent irrigations, and determines whether there is a first slope area on the mine slope that is not covered by irrigation based on the slope image. If there is a target slope area, the regional information of the target slope area is determined, and the regional information includes the position of each target slope area. The target slope area includes the first slope area and / or the second slope area where the soil moisture value does not reach the preset humidity threshold. The irrigation tool 4 corresponding to each target slope area is determined based on the position. The irrigation tool 4 includes a watering vehicle 41 and a watering drone 42. The irrigation tool 4 corresponding to each target slope area is controlled to water based on the regional information and the historical soil moisture value. The electronic device 3 executes the content and implementation methods disclosed in the above embodiments.

[0101] The irrigation tool 4 includes a watering vehicle 41 and a watering drone 42. Figure 5As shown, the watering vehicle 41 and the watering drone 42 are both wirelessly connected to the electronic device 3 for watering the target slope area. The watering vehicle 41 includes a vehicle body 411, a water tank 412 arranged on the vehicle body 411, a first water pipe 413 connected to the water tank 412, a first spray gun 414 connected to the first water pipe 413, a second water pipe 421 connected to the water tank 411, and a second spray gun 422 connected to the second water pipe 421. The watering drone 42 is fixedly connected to the second spray gun 422. Both the first water pipe 413 and the second water pipe 421 are hoses. The watering drone 42 carries the second spray gun 422 to fly above the first slope area, and uses the water in the water tank 411 for irrigation and watering. The first spray gun 414 can independently irrigate and water the second slope area, that is, irrigate and water a first slope area and a second slope area at the same time, thereby improving the irrigation efficiency. A water pump (not shown in the figure) may be provided in the water storage tank 412 for adjusting the water pressure in the second water pipe 421 .

[0102] In other embodiments, the watering drone 42 may be provided with an angle adjustment device, such as an angle adjustment device composed of two stepper motors and a gear set. The angle adjustment device is fixedly connected to the second spray gun 422 and can adjust the angle of the second spray gun 422 on the horizontal and vertical planes and the angle change speed.

[0103] The following embodiment introduces a repaired mine ecological maintenance device 5 from the perspective of a virtual module or a virtual unit. For details, please refer to the following embodiment.

[0104] The present application embodiment provides a repaired mine ecological maintenance device 5, such as Figure 6 As shown, the repaired mine ecological maintenance device 5 may specifically include: The data acquisition module 51 is used to acquire the current slope image of the mine slope, the soil moisture values ​​of multiple areas on the mine slope, and the historical soil moisture values ​​of each area between two adjacent irrigations; A judgment module 52, used for judging whether there is a first slope area on the mine slope that is not covered by the current irrigation based on the slope image; The regional information determination module 53 is used to determine the regional information of the target slope area when there is a target slope area, the regional information includes the position of each target slope area, and the target slope area includes a first slope area and / or a second slope area where the soil moisture value does not reach a preset moisture threshold; An irrigation tool determination module 54 is used to determine the irrigation tool corresponding to each target slope area based on the position, and the irrigation tools include a watering vehicle and a watering drone; The first watering control module 55 is used to control the irrigation tools corresponding to each target slope area to water based on the area information and the historical soil moisture value.

[0105] The embodiment of the present application discloses a post-repair mine ecological maintenance device 5, wherein a data acquisition module 51 acquires soil moisture values ​​and historical soil moisture values ​​of multiple areas to facilitate subsequent determination of the irrigation water volume of each area, and the data acquisition module 51 acquires slope images to facilitate the judgment module 52 to judge whether there is a first slope area that is not covered during the irrigation operation, the first slope area, and a second slope area whose soil moisture value does not reach a preset soil moisture threshold, that is, a target slope area. The target slope area cannot provide the moisture required for plant growth in this irrigation operation and requires additional watering. Therefore, if there is a target slope area, the area information determination module 53 determines The regional information of the target slope area is determined, and the regional information characterizes the specific conditions in each target slope area, wherein the regional information includes the location of each target slope area. Since the locations of the target slope areas are different, suitable irrigation tools are different. Therefore, the irrigation tool determination module 54 determines the irrigation tool corresponding to each target slope area. The regional information and the historical soil moisture values ​​are capable of characterizing the specific conditions of each target slope area and the soil in the area. Therefore, the first watering control module 55 can control the corresponding irrigation tool for supplementary watering according to the regional information and the historical soil moisture values, thereby making the ecological maintenance of the repaired mine more comprehensive, thereby improving the maintenance effect.

[0106] In a possible implementation of the embodiment of the present application, the area information includes the altitude value of the target slope area, and the irrigation tool determination module 54 is specifically used to determine the irrigation tool corresponding to each target slope area based on the area information: If there is a first target slope area whose altitude value reaches the preset altitude threshold, the irrigation tool corresponding to the first target slope area is determined to be a watering drone; If there is a second target slope area whose altitude value does not reach the preset altitude threshold, the irrigation tool corresponding to the second target slope area is determined to be a sprinkler vehicle.

[0107] In a possible implementation of the embodiment of the present application, the regional information also includes the slope value and soil thickness of the target slope area, and the historical soil moisture value corresponds to the historical meteorological information. The first watering control module 55 controls the irrigation tool corresponding to each target slope area to water based on the regional information and the historical soil moisture value. Specifically, it is used to: Obtain current weather forecast information, calculate the similarity between the current weather forecast information and each historical meteorological information between two adjacent irrigations, and determine the target historical meteorological information with the highest similarity; Determine the humidity change rate of the historical soil moisture value corresponding to the target historical meteorological information; Determine the score of each target slope area based on the moisture change rate, soil thickness, slope value and their corresponding coefficients; Determine a target score interval in which the score is located from a plurality of preset score intervals, each preset score interval corresponding to a preset irrigation water volume; Determine the preset irrigation water volume of the target score interval as the first irrigation water volume of the second slope area, determine the area of ​​each first slope area based on the slope image, determine a first ratio of the area to the preset area, determine the second irrigation water volume of each first slope area based on the first ratio and the target score interval, and the preset area is the area of ​​each area; Based on the first irrigation water volume and the second irrigation water volume, the irrigation tool corresponding to each target slope area is controlled to water.

[0108] In a possible implementation manner of the embodiment of the present application, the device 5 further includes: An image acquisition module is used to obtain the original image of the mine slope before restoration; A first division module, used for dividing the original image based on multiple regions to obtain multiple regional images; A feature recognition module is used to perform feature recognition on multiple regional images to obtain the number of gravels and cracks in each regional image; A score determination module, used to determine the compensation score of each area based on the number of gravels, the number of cracks and their corresponding weights; The compensation module is used to compensate the irrigation water volume of each target slope area based on the compensation score.

[0109] In a possible implementation of the embodiment of the present application, the irrigation water volume includes a first irrigation water volume and a second irrigation water volume. If there is a target first slope area in the first slope area where the irrigation tool is a watering drone, the watering drone is connected to the watering vehicle through a water pipe, and the first watering control module 55 controls the irrigation tool corresponding to each target slope area to water based on the first irrigation water volume and the second irrigation water volume, specifically for: Determine the contour of each target first slope region based on the slope image; Determine an approximate shape of a target first slope area from a plurality of preset approximate shapes based on the contour, each preset approximate shape corresponding to a watering route of a watering drone; If any irrigation tool is a sprinkler vehicle, and there is a target first slope area within the preset range of the second target slope area, and the irrigation water volume of the target first slope area within the preset range is greater than the irrigation water volume of the second target slope area, then determine a second ratio of the irrigation water volume of the second target slope area to the irrigation water volume of the target first slope area within the preset range; determining an irrigation time for the second target slope area based on the irrigation water volume and the reference water pressure of the second target slope area; Determine the water pressure of the target first slope area within the preset range based on the second ratio and the reference water pressure; Determine the length of the watering route based on the area of ​​the target first slope area within the preset range and the watering route; The flight speed of the sprinkler drone is determined based on the length and irrigation time, and the sprinkler drone is controlled to water based on the flight speed and the sprinkler route.

[0110] In a possible implementation manner of the embodiment of the present application, the device 5 further includes: A sum determination module is used to determine the sum of irrigation water volume in all target slope areas; A quantity determination module, used for determining the number of sprinkler vehicles based on the total amount of irrigation water and the water storage capacity of each sprinkler vehicle; The second division module is used for, when the number is not less than two, dividing the mine slope based on the number to obtain the same working area as the number, and the same amount of irrigation water in each working area; The second watering control module is used to control each sprinkler vehicle to water based on the working area.

[0111] In the embodiment of the present application, the first watering control module 55 and the second watering control module can be the same watering control module or different watering control modules. The first dividing module and the second dividing module can be the same dividing module or different dividing modules.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described repaired mine ecological maintenance device 5 can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0113] An electronic device is provided in an embodiment of the present application, such as Figure 7 As shown, Figure 7 The electronic device 3 shown includes: a processor 31 and a memory 33. The processor 31 and the memory 33 are connected, such as through a bus 32. Optionally, the electronic device 3 may also include a transceiver 34. It should be noted that in actual applications, the transceiver 34 is not limited to one, and the structure of the electronic device 3 does not constitute a limitation on the embodiments of the present application.

[0114] The processor 31 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 31 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0115] The bus 32 may include a path for transmitting information between the above components. The bus 32 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 32 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but it does not mean that there is only one bus or only one type of bus.

[0116] The memory 33 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0117] The memory 33 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 31. The processor 31 is used to execute the application code stored in the memory 33 to implement the contents shown in the above method embodiment.

[0118] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 7 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0119] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment. Compared with the related art, in the embodiment of the present application, after an irrigation operation, soil moisture values ​​and historical soil moisture values ​​of multiple areas are obtained to facilitate the subsequent determination of the irrigation water volume of each area, and the slope image is obtained to facilitate the judgment through the slope image whether there is a first slope area that is not covered during the irrigation operation, the first slope area and the second slope area whose soil moisture value does not reach the preset soil moisture threshold, that is, the target slope area. The target slope area cannot provide the moisture required for plant growth in this irrigation operation and both require supplementary watering. Therefore, if there is a target slope area, the regional information of the target slope area is determined, and the regional information represents the specific situation in each target slope area, wherein the regional information includes the location of each target slope area. Due to the different locations of the target slope areas, the suitable irrigation tools are different, so the irrigation tools corresponding to each target slope area are determined, and the regional information and historical soil moisture values ​​are both capable of representing the specific situation of each target slope area and the soil in the area. Therefore, according to the regional information and the historical soil moisture values, the corresponding irrigation tools can be controlled to perform supplementary watering, thereby making the ecological maintenance of the restored mine more comprehensive, thereby improving the maintenance effect.

[0120] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0121] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for ecological maintenance of a restored mine, characterized in that: include: Obtain the current slope image of the mine slope, the soil moisture values ​​of multiple areas on the mine slope, and the historical soil moisture values ​​of each area between two adjacent irrigations; Determining, based on the slope image, whether there is a first slope area on the mine slope that is not covered by the current irrigation; If there is a target slope area, determining the area information of the target slope area, the area information including the position of each target slope area, the target slope area including a first slope area and / or a second slope area where a soil moisture value does not reach a preset moisture threshold; Determine the irrigation tools corresponding to each target slope area based on the position, wherein the irrigation tools include a watering vehicle and a watering drone; Based on the regional information and the historical soil moisture value, the irrigation tool corresponding to each target slope area is controlled to water.

2. A method for ecological maintenance of a restored mine according to claim 1, characterized in that: The area information includes an altitude value of the target slope area, and the step of determining the irrigation tool corresponding to each target slope area based on the area information includes: If there is a first target slope area whose altitude value reaches the preset altitude threshold, the irrigation tool corresponding to the first target slope area is determined to be a watering drone; If there is a second target slope area whose altitude value does not reach the preset altitude threshold, the irrigation tool corresponding to the second target slope area is determined to be a sprinkler vehicle.

3. A method for ecological maintenance of a restored mine according to claim 1, characterized in that: The regional information also includes a slope value and a soil layer thickness of the target slope area, and the historical soil moisture value corresponds to historical meteorological information. The method of controlling the irrigation tool corresponding to each target slope area to water based on the regional information and the historical soil moisture value includes: Acquire current weather forecast information, calculate the similarity between the current weather forecast information and each historical meteorological information between two adjacent irrigations, and determine the target historical meteorological information with the highest similarity; Determine the humidity change rate of the historical soil moisture value corresponding to the target historical meteorological information; Determine the score of each target slope area based on the moisture change rate, soil thickness, slope value and their corresponding coefficients; Determine a target score interval in which the score is located from a plurality of preset score intervals, each preset score interval corresponding to a preset irrigation water volume; Determine the preset irrigation water volume of the target score interval as the first irrigation water volume of the second slope area, determine the area of ​​each first slope area based on the slope image, determine a first ratio of the area to a preset area, and determine the second irrigation water volume of each first slope area based on the first ratio and the target score interval, wherein the preset area is the area of ​​each area; The irrigation tool corresponding to each target slope area is controlled to water based on the first irrigation water volume and the second irrigation water volume.

4. A method for ecological maintenance of a restored mine according to claim 3, characterized in that: The method further comprises: Obtaining an original image of the mine slope before restoration; Dividing the original image based on the multiple regions to obtain multiple regional images; Performing feature recognition on the multiple regional images to obtain the number of gravels and the number of cracks in each regional image; Determine the compensation score for each area based on the number of gravels, the number of cracks and their corresponding weights; The irrigation water volume of each target slope area is compensated based on the compensation score.

5. The method for ecological maintenance of a restored mine according to claim 3, characterized in that: The irrigation water volume includes the first irrigation water volume and the second irrigation water volume. If there is a target first slope area in the first slope area where the irrigation tool is a watering drone, the watering drone is connected to the watering vehicle through a water pipe, and the irrigation tool corresponding to each target slope area is controlled to water based on the first irrigation water volume and the second irrigation water volume, the method includes: Determine the contour of each target first slope area based on the slope image; Determine an approximate shape of the target first slope area from a plurality of preset approximate shapes based on the contour, each preset approximate shape corresponding to a watering route of the watering drone; If any irrigation tool is a sprinkler vehicle and there is a target first slope area within the preset range of the second target slope area, and the irrigation water volume of the target first slope area within the preset range is greater than the irrigation water volume of the second target slope area, then determine a second ratio of the irrigation water volume of the second target slope area to the irrigation water volume of the target first slope area within the preset range; determining an irrigation time for the second target side slope area based on the irrigation water volume and the reference water pressure of the second target side slope area; Determining the water pressure of the target first slope area within the preset range based on the second ratio and the reference water pressure; Determine the length of the watering route based on the area of ​​the target first slope region within the preset range and the watering route; The flying speed of the watering drone is determined based on the length and the irrigation time, and the watering drone is controlled to perform watering based on the flying speed and the watering route.

6. A method for ecological maintenance of a restored mine according to claim 5, characterized in that: The method further comprises: Determine the total irrigation water volume for all target slope areas; Determining the number of sprinkler vehicles based on the total amount of irrigation water and the water storage capacity of each sprinkler vehicle; If the number is not less than two, the mine slope is divided based on the number to obtain the same number of working areas as the number, and the amount of irrigation water in each working area is the same; Each watering vehicle is controlled to water based on the working area.

7. A restored mine ecological maintenance system, characterized in that: include: Multiple humidity sensors are used to collect soil moisture values ​​in multiple areas on the mine slope; UAVs, used to collect slope images; an electronic device, which is communicatively connected with the multiple humidity sensors and the drone, and is used to obtain a current slope image of a mine slope, soil humidity values ​​of multiple areas on the mine slope, and historical soil humidity values ​​of each area between two adjacent irrigations, and to determine whether there is a first slope area on the mine slope that is not covered by irrigation based on the slope image; if there is a target slope area, then determine the area information of the target slope area, the area information includes the position of each target slope area, the target slope area includes the first slope area and / or the second slope area where the soil humidity value does not reach a preset humidity threshold; based on the position, determine the irrigation tool corresponding to each target slope area, the irrigation tool includes a watering vehicle and a watering drone; and based on the area information and the historical soil humidity value, control the irrigation tool corresponding to each target slope area to water; An irrigation tool is communicatively connected with the electronic device and is used for watering the target slope area. The irrigation tool includes a watering vehicle and a watering drone.

8. A post-repair mine ecological maintenance system according to claim 7, characterized in that: The watering vehicle includes a vehicle body, a water storage tank arranged on the vehicle body, a first water pipe connected to the water storage tank, a first spray gun connected to the first water pipe, a second water pipe connected to the water storage tank, and a second spray gun connected to the second water pipe. The watering drone is fixedly connected to the second spray gun.

9. An electronic device, characterized in that: It includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and is configured to be executed by the at least one processor, and the at least one application is used to execute a method for ecological maintenance of a restored mine according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute a method for ecological maintenance of a restored mine as described in any one of claims 1 to 6.

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