Drainage monitoring method and device for tailings pond

Abstract

The embodiment of the invention discloses a drainage monitoring method and device for a tailing pond, and is suitable for the field of coal mine safety monitoring, and the method comprises the steps: obtaining the surveying and mapping data information of a target tailing pond collected by an unmanned aerial vehicle, and carrying out the three-dimensional modeling of the target tailing pond based on the surveying and mapping data information, the method comprises the steps of obtaining an inclined image model and a three-dimensional model of a target tailings pond, performing semantic segmentation on the target tailings pond according to the inclined image model and the three-dimensional model to obtain data information of different monitoring objects of the target tailings pond, performing drainage anomaly identification on the monitoring objects according to the data information of the monitoring objects, and performing drainage anomaly identification on the monitoring objects according to identification results of the monitoring objects. And generating drainage monitoring data of the target tailings pond. In the embodiment of the invention, the accurate inclined image model and the three-dimensional model are constructed based on the surveying and mapping data information acquired by the unmanned aerial vehicle, so that the drainage abnormity of the tailings pond is identified based on the model, manual inspection is not depended any more, and the drainage monitoring efficiency, reliability and accuracy of the tailings pond are improved.

Description

Technical Field

[0001] The present application relates to the field of coal mine safety monitoring, and in particular to a drainage monitoring method and device for a tailings pond. Background Art

[0002] There are many tailings ponds and they are widely distributed. Moreover, the scale is getting bigger and bigger, and the dams are getting higher and higher. The potential safety hazards of tailings ponds are also increasing. Therefore, it is particularly important to monitor the safety of tailings ponds, especially for wet-discharge tailings ponds. It is necessary to focus on monitoring the potential safety hazards of abnormal drainage in tailings ponds. At present, the tailings ponds are still monitored by manual inspection. However, the manual inspection scheme is not only time-consuming and labor-intensive, but also inefficient, and has poor reliability and accuracy. Summary of the invention

[0003] The embodiments of the present application provide a drainage monitoring method and device for a tailings pond, which can be applied to the field of coal mine safety monitoring, no longer rely on manual inspections, and improve the efficiency, reliability and accuracy of drainage monitoring of tailings ponds.

[0004] In a first aspect, an embodiment of the present application provides a drainage monitoring method for a tailings pond, the method comprising:

[0005] Obtain surveying and mapping data information of the target tailings pond collected by drones;

[0006] Performing three-dimensional modeling of the target tailings pond based on the surveying and mapping data to obtain an inclined image model and a three-dimensional model of the target tailings pond;

[0007] According to the oblique image model and the three-dimensional model, semantic segmentation is performed on the target tailings pond to obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects at least include a beach surface, a tailings dam and a drainage ditch;

[0008] Identify drainage anomalies of the monitored object according to the data information of the monitored object;

[0009] Based on the identification result of the monitored object, drainage monitoring data of the target tailings pond is generated.

[0010] In some embodiments, obtaining the surveying and mapping data information of the target tailings pond collected by the drone includes:

[0011] Obtaining a set flight route of the UAV, and controlling the UAV to survey and map the target tailings pond according to the flight route, obtaining surveying and mapping data information of the target tailings pond, and receiving the surveying and mapping data information fed back by the UAV;

[0012] The surveying and mapping data information includes image data and spatial position data of the target tailings pond at different viewing angles.

[0013] In some embodiments, the three-dimensional modeling of the target tailings pond is performed based on the surveying and mapping data information to obtain an inclined image model and a three-dimensional model of the target tailings pond, including:

[0014] Performing three-dimensional reconstruction on the surveying and mapping data information to generate model-related data of the target tailings pond, wherein the model-related data includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the target tailings pond;

[0015] According to the model-related data of the target tailings pond, three-dimensional modeling is performed on the target tailings pond to obtain an inclined image model and a three-dimensional model of the target tailings pond.

[0016] In some embodiments, the semantic segmentation of the target tailings pond is performed according to the oblique image model and the three-dimensional model to obtain data information of different monitoring objects of the target tailings pond, including:

[0017] Based on the pre-trained semantic segmentation neural network, the oblique image model and the three-dimensional model are semantically segmented according to the reservoir beach, tailings dam and drainage ditch of the tailings pond to obtain the respective data information of the reservoir beach, tailings dam and drainage ditch, and the data information includes the digital surface model and attribute information of the monitored object.

[0018] In some embodiments, the identifying drainage anomalies of the monitored object according to the data information of the monitored object includes:

[0019] Based on the attribute information of the monitored object, the digital surface model of the monitored object is divided into regions to obtain N regions;

[0020] Traverse the N regions, and for the currently traversed region m, obtain a region m+1 adjacent to the region m;

[0021] Based on the associated data of the area m and the area m+1, it is identified whether there is water accumulation or siltation in the area m.

[0022] In some embodiments, the identifying whether the area m has water accumulation or siltation based on the association data of the area m+1 adjacent to the area m includes:

[0023] Establishing a three-dimensional coordinate system in the digital surface model of the monitored object, and determining the center point of each area and the position coordinates of the center point;

[0024] According to the position coordinates of the center point, the slope and the slope direction between the center point of the area m and the center point of the area m+1 are obtained;

[0025] Obtain a first area of ​​the area m and a second area of ​​the area m+1;

[0026] According to the slope and the slope direction, as well as the area of ​​the first region and the area of ​​the second region, it is identified whether there is water accumulation or siltation in the region m.

[0027] In some embodiments, the identifying whether there is water accumulation or siltation in area m according to the slope and the slope direction, and the area of ​​the first area and the area of ​​the second area includes:

[0028] If the slope is greater than the slope threshold corresponding to the monitored object, the area of ​​the first region is greater than the first area threshold corresponding to the monitored object, the slope directions are respectively in four quadrants, and the area of ​​the second region is greater than the second area threshold corresponding to the monitored object, it is determined that there is water accumulation or siltation in the area m.

[0029] In some embodiments, after identifying whether the area m has water accumulation or siltation, the method further includes:

[0030] Acquire the location information, area number and area of ​​the area as the attribute information of the area;

[0031] The judgment result of the area and the attribute information of the area are associated and stored.

[0032] In some embodiments, after associating and storing the judgment result of the area and the attribute information of the area, the method further includes:

[0033] Based on the location information of the area, marking the area with water accumulation or siltation in the inclined image model and the three-dimensional model of the target tailings pond; and / or,

[0034] Based on the judgment result and attribute information of the area of ​​water accumulation or siltation, an alarm message is generated.

[0035] In a second aspect, an embodiment of the present application provides a drainage monitoring device for a tailings pond, the device comprising:

[0036] A data acquisition module is used to obtain the surveying and mapping data information of the target tailings pond collected by the drone;

[0037] A three-dimensional modeling module, used to perform three-dimensional modeling of the target tailings pond based on the surveying and mapping data, and obtain an inclined image model and a three-dimensional model of the target tailings pond;

[0038] A semantic segmentation module, configured to perform semantic segmentation on the target tailings pond according to the oblique image model and the three-dimensional model, and obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects include at least a beach surface, a tailings dam and a drainage ditch;

[0039] A drainage anomaly identification module, used to identify drainage anomalies of the monitored object according to the data information of the monitored object;

[0040] The real-time monitoring module is used to generate drainage monitoring data of the target tailings pond according to the identification result of the monitored object.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the drainage monitoring method for a tailings pond as provided in the first aspect of the present disclosure is implemented.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the drainage monitoring method for a tailings pond as provided in the first aspect of the present disclosure.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the drainage monitoring method for a tailings pond as described in the first aspect of the present disclosure is implemented.

[0044] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0045] In an embodiment of the present application, the surveying and mapping data information of the tailings pond collected by the drone can be used to construct a three-dimensional model of the tailings pond, and an inclined image model and a three-dimensional model of the tailings pond can be obtained. By performing semantic segmentation on the inclined image model and the three-dimensional model, data information of different monitoring objects such as the beach, tailings dam and drainage ditch can be obtained. Drainage anomalies of the monitored objects can be identified based on the data information, and drainage monitoring data of the tailings pond can be obtained. Manual inspections are no longer required, which not only saves manpower but also improves the efficiency of drainage monitoring of the tailings pond. The surveying and mapping of the tailings pond based on the drone makes the collection of the original data of the tailings pond more accurate and comprehensive, so that a more accurate inclined image model and a three-dimensional model can be constructed, thereby further improving the reliability and accuracy of drainage monitoring of the tailings pond. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0047] Figure 1 It is a schematic diagram of a flow chart of a drainage monitoring method for a tailings pond provided in an embodiment of the present application;

[0048] Figure 2 It is a schematic flow chart of another drainage monitoring method for a tailings pond provided in an embodiment of the present application;

[0049] Figure 3 It is a structural schematic diagram of a drainage monitoring device for a tailings pond provided in an embodiment of the present application;

[0050] Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0052] It should be noted that the tailings pond drainage monitoring method provided in any embodiment of the present application can be executed alone, or in combination with possible implementation methods in other embodiments, or in combination with any technical solution in the relevant technology.

[0053] The tailings pond drainage monitoring method and device provided in the present application are described in detail below in conjunction with the accompanying drawings.

[0054] Figure 1 1 is a flow chart of a drainage monitoring method for a tailings pond provided in the present application. As shown in 1, the drainage monitoring method for the tailings pond includes but is not limited to the following steps:

[0055] S101, obtaining surveying and mapping data information of the target tailings pond collected by the drone.

[0056] The drainage monitoring method for a tailings pond provided in an embodiment of the present application is configured on an electronic device, which may be a terminal device or a server, etc. It can realize drainage monitoring of the tailings pond based on the surveying and mapping data information collected by a drone without relying on manual inspections.

[0057] In some embodiments, a set flight route of a UAV can be obtained, and the UAV can be controlled to survey the target tailings pond according to the flight route to obtain surveying data information of the target tailings pond, and receive surveying data information fed back by the UAV.

[0058] In some embodiments, the surveying and mapping data information may include, but is not limited to, image data and spatial position data of the target tailings pond at different viewing angles.

[0059] In some embodiments, the monitoring time and the flight route of the drone can be preset, a monitoring task can be generated based on the monitoring time and the flight route, and the monitoring task can be sent to the drone. The drone can map the target tailings pond based on the monitoring time and the flight route to obtain the mapping data information of the target tailings pond. Furthermore, the mapping data information fed back by the drone can be received.

[0060] S102, performing three-dimensional modeling of the target tailings pond based on the surveying and mapping data information to obtain an inclined image model and a three-dimensional model of the target tailings pond.

[0061] In some embodiments, model-related data for three-dimensional modeling can be acquired based on the surveying and mapping data information. Optionally, the surveying and mapping data information can be three-dimensionally reconstructed to generate model-related data corresponding to the target tailings pond.

[0062] In some embodiments, the model-related data of the target tailings pond may include, but is not limited to, three-dimensional point cloud data, digital orthophoto data, and digital elevation data of the target tailings pond.

[0063] Further, according to the model-related data of the target tailings pond, the target tailings pond is three-dimensionally modeled to obtain the oblique image model and the three-dimensional model of the target tailings pond. That is to say, based on the three-dimensional point cloud data, the digital orthophoto data and the digital elevation data, the target tailings pond is three-dimensionally modeled to obtain the oblique image model of the target tailings pond, and further, the three-dimensional model of the target tailings pond is generated based on the oblique image model of the target tailings pond. It can be understood that under the guidance of the oblique image model of the target tailings pond, based on the model-related data corresponding to the target tailings pond, a three-dimensional model of the target tailings pond matching the oblique image model can be generated.

[0064] In some embodiments, the oblique image model of the target tailings pond can be a digital oblique image map (Digital Orthophoto Map, DOM). Optionally, based on three-dimensional point cloud data, digital orthophoto data and digital elevation data, a digital elevation model (DEM) is used to perform pixel-by-pixel radiation correction, differential correction and mosaicking on the scanned digitized aerial photographs or remote sensing images (monochrome or color), and then a plan map with map geometric accuracy and image characteristics is generated by cropping it according to a specified map range.

[0065] In some embodiments, the three-dimensional model of the target tailings pond can be a digital surface model (DSM), and the three-dimensional point cloud data, digital orthophoto data and digital elevation data can be preprocessed, and stereo image pair matching, LiDAR point cloud processing or photogrammetry and remote sensing integration and other operations can be performed based on the preprocessed data to generate the DSM.

[0066] S103, performing semantic segmentation on the target tailings pond according to the oblique image model and the three-dimensional model to obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects include at least the beach surface, the tailings dam and the drainage ditch.

[0067] In some embodiments, semantic segmentation is performed on the target tailings pond based on a pre-trained semantic segmentation neural network to obtain data information of different monitoring objects of the target tailings pond. That is, the oblique image model and three-dimensional model of the target tailings pond are input into the semantic segmentation model, and semantic segmentation is performed by the semantic segmentation neural network to obtain data information of different monitoring objects of the target tailings pond.

[0068] In some embodiments, different monitoring objects of the target tailings pond may include at least the beach surface, tailings dam and drainage ditch of the tailings pond, that is, data information of the beach surface of the tailings pond, data information of the tailings dam and data information of the drainage ditch can be obtained.

[0069] In some embodiments, the data information of the monitored object may include segmenting the DSM model corresponding to the monitored object and the attribute information of the monitored object from the three-dimensional model of the target tailings pond. That is, the DSM model and attribute information of the beach, the DSM model and attribute information of the tailings dam, and the DSM model and attribute information of the drainage ditch may be segmented from the three-dimensional model of the target tailings pond.

[0070] In some embodiments, the attribute information of the monitored object may include, but is not limited to, information such as the length, width and / or area of ​​the monitored object.

[0071] S104: Identify drainage anomalies of the monitored object according to the data information of the monitored object.

[0072] In some embodiments, the monitored object can be divided into regions based on the data information of the monitored object to obtain multiple regions, and the multiple regions can be traversed to identify the drainage abnormality of each region respectively to obtain the identification result of each region.

[0073] In some embodiments, relevant information of each area may be obtained, such as the slope, slope direction and area of ​​the area, and further, it may be determined whether drainage of the area is abnormal based on the above information.

[0074] In some embodiments, drainage anomalies may include, but are not limited to, water accumulation and siltation. For example, it may be identified whether there is a water pit on the beach, whether there is a water pit on the slope of the tailings dam, and whether there is siltation in the drainage ditch.

[0075] S105: Generate drainage monitoring data of the target tailings pond according to the identification result of the monitoring object.

[0076] After obtaining the identification result of the monitoring object, drainage monitoring data of the target tailings pond can be generated based on the identification result of the monitoring object. It is understandable that the drainage monitoring data may include but is not limited to: whether there are water pits in multiple areas on the beach, whether there are water pits on the slope in multiple areas of the tailings dam, and whether there are siltation in multiple areas of the drainage ditch.

[0077] In an embodiment of the present application, the surveying and mapping data information of the tailings pond collected by the drone can be used to construct a three-dimensional model of the tailings pond, and an inclined image model and a three-dimensional model of the tailings pond can be obtained. By performing semantic segmentation on the inclined image model and the three-dimensional model, data information of different monitoring objects such as the beach, tailings dam and drainage ditch can be obtained. Drainage anomalies of the monitored objects can be identified based on the data information, and drainage monitoring data of the tailings pond can be obtained. Manual inspections are no longer required, which not only saves manpower but also improves the efficiency of drainage monitoring of the tailings pond. The surveying and mapping of the tailings pond based on the drone makes the collection of the original data of the tailings pond more accurate and comprehensive, so that a more accurate inclined image model and a three-dimensional model can be constructed, thereby further improving the reliability and accuracy of drainage monitoring of the tailings pond.

[0078] Figure 2 2 is a flow chart of another drainage monitoring method for a tailings pond provided in the present application. As shown in 2, the drainage monitoring method for the tailings pond includes but is not limited to the following steps:

[0079] S201, obtaining a set flight route of the UAV, and controlling the UAV to survey and map the target tailings pond according to the flight route, to obtain surveying and mapping data information of the target tailings pond.

[0080] For optional implementations of step S201, see Figure 1 Optional implementations of step S101, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0081] S202, three-dimensionally reconstructing the surveying and mapping data information to generate model-related data of the target tailings pond, wherein the model-related data includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the target tailings pond.

[0082] S203, performing three-dimensional modeling of the target tailings pond according to the model-related data of the target tailings pond, and obtaining an inclined image model and a three-dimensional model of the target tailings pond.

[0083] For optional implementations of steps S202 to S203, see Figure 1 Optional implementations of step S102, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0084] S204, performing semantic segmentation on the target tailings pond according to the oblique image model and the three-dimensional model to obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects include at least the beach surface, the tailings dam and the drainage ditch.

[0085] For optional implementations of step S204, see Figure 1 Optional implementations of step S103, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0086] S205: Identify drainage anomalies of the monitored object according to the data information of the monitored object.

[0087] In some embodiments, based on the attribute information of the monitored object, the digital surface model of the monitored object is divided into regions to obtain N regions, where N is a natural number. Alternatively, the region may be divided into equal areas according to a set area on the plane to obtain N regions. Alternatively, the region may be divided into equal areas according to a set length on the plane to obtain N regions.

[0088] Furthermore, N areas are traversed, and for the currently traversed area m, an area m+1 adjacent to area m is obtained, and based on the associated data between area m and area m+1, it is determined whether there is water accumulation or siltation in area m.

[0089] In some embodiments, a three-dimensional coordinate system is established in the digital surface model of the monitored object, and the center point of each area and the position coordinates of the center point are determined. According to the position coordinates of the center point, the slope and slope direction between the center point of area m and the center point of area m+1 are obtained. Further, the area of ​​the first area of ​​area m and the area of ​​the second area of ​​area m+1 are obtained. After the slope and slope direction are obtained, based on the area of ​​the first area and the area of ​​the second area, it can be judged whether there is water accumulation or siltation in area m according to the slope and slope direction, as well as the area of ​​the first area and the area of ​​the second area. It can be understood that m is a natural number and is less than or equal to N.

[0090] In some embodiments, if the slope is greater than the slope threshold corresponding to the monitored object, the area of ​​the first region is greater than the first area threshold corresponding to the monitored object, the slope directions are in four quadrants respectively, and the area of ​​the second region is greater than the second area threshold corresponding to the monitored object, it is determined that there is water accumulation or blockage in area m.

[0091] In some embodiments, the process of monitoring whether there is a water pit on the beach surface may include the following steps:

[0092] For the digital surface model of the beach, the plane is divided into equal areas according to the set area to obtain n1 regions;

[0093] A three-dimensional coordinate system is established in the digital surface model of the beach, the center point of each area is selected as the calculation point, and the position coordinates of each calculation point are calculated;

[0094] The slope and slope direction between two adjacent calculation points are calculated by trigonometric function relationship. The slope between the mth calculation point and the m+1th calculation point is expressed as I(m,m+1), and the slope direction between the mth calculation point and the m+1th calculation point is expressed as F(m,m+1).

[0095] Use the following rules 1, 2 and 3 to determine the mth area:

[0096] Rule 1:

[0097] I(m,m+1)>I T And S m >S T1 ; Among them, I T is the first slope threshold, S m is the area of ​​the mth region, S T1 is the first area threshold;

[0098] Rule 2:

[0099] F(m,m+1) is distributed in four quadrants {(0°,90°),(90°,180°),(180°,270°),(270°,360°)};

[0100] Rule 3:

[0101] The area S of the adjacent region of the mth region nei Satisfy S nei >S T2 ; Among them, S T2 is the second area threshold;

[0102] If the mth area satisfies Rule 1, Rule 2 and Rule 3 at the same time, it is determined that there is a beach puddle in the mth area.

[0103] In some embodiments, the process of monitoring whether there is a water pit on the slope of the tailings dam may include the following steps:

[0104] For the digital surface model of the tailings dam, the plane is divided into equal areas according to the set area to obtain n2 regions;

[0105] A three-dimensional coordinate system is established in the digital surface model of the tailings dam, the center point of each area is selected as the calculation point, and the position coordinates of each calculation point are calculated;

[0106] The slope and slope direction between two adjacent calculation points are calculated by trigonometric function relationship. The slope between the m1th calculation point and the m1+1th calculation point is expressed as I(m1,m1+1), and the slope direction between the m1th calculation point and the m1+1th calculation point is expressed as F(m1,m1+1).

[0107] Use the following rules 1', 2' and 3' to judge the m1th area:

[0108] Rule 1':

[0109] I(m1,m1+1)>I T1 And S m1 >S T3 ; Among them, I T1 is the second slope threshold, S m1 is the area of ​​the m1th region, S T3 is the third area threshold;

[0110] Rule 2':

[0111] F(m1,m1+1) is distributed in four quadrants {(0°,90°),(90°,180°),(180°,270°),(270°,360°)};

[0112] Rule 3':

[0113] The area S of the adjacent region of the m1th region nei1 Satisfy S nei1 >S T4 ; Among them, S T4 is the fourth area threshold;

[0114] If the m1th area satisfies Rule 1', Rule 2' and Rule 3' at the same time, it is determined that there is a water pit on the slope of the tailings dam in the m1th area.

[0115] In some embodiments, the process of monitoring whether a drainage ditch is clogged may include the following steps:

[0116] According to the drainage ditch data information of the target tailings pond obtained in step S4, the digital surface model of the drainage ditch is divided into equal areas on the plane according to the set area to obtain n3 areas;

[0117] A three-dimensional coordinate system is established in the digital surface model of the drainage ditch, the center point of each area is selected as the calculation point, and the position coordinates of each calculation point are calculated;

[0118] The slope and slope direction between two adjacent calculation points are calculated by trigonometric function relationship. The slope between the m2th calculation point and the m2+1th calculation point is expressed as I(m2,m2+1), and the slope direction between the m2th calculation point and the m2+1th calculation point is expressed as F(m2,m2+1).

[0119] Use the following rules 1", 2" and 3" to judge the m2th area:

[0120] Rule 1:

[0121] I(m2,m2+1)>I T2 And S m2 >S T5 ; Among them, I T2 is the third slope threshold, S m2 is the area of ​​the m2th region, S T5 is the fifth area threshold;

[0122] Rule 2:

[0123] F(m1,m1+1) is distributed in two quadrants {(0°,90°),(180°,270°)} or {(90°,180°),(270°,360°)};

[0124] Rule 3:

[0125] The area S of the adjacent region of the m2th region nei2 Satisfy S nei2 >S T6 ; Among them, S T6 is the sixth area threshold;

[0126] If the m2th area satisfies Rule 1”, Rule 2” and Rule 3” at the same time, it is determined that the drainage ditch in the m2th area is clogged.

[0127] S206: Generate drainage monitoring data of the target tailings pond according to the identification result of the monitoring object.

[0128] After obtaining the identification result of the monitoring object, drainage monitoring data of the target tailings pond can be generated based on the identification result of the monitoring object. It is understandable that the drainage monitoring data may include but is not limited to: whether there are water pits in multiple areas on the beach, whether there are water pits on the slope in multiple areas of the tailings dam, and whether there are siltation in multiple areas of the drainage ditch.

[0129] In some embodiments, the location information, area number and area of ​​the region are obtained as the attribute information of the region, and further, the recognition result of the region and the attribute information of the region are associated and stored.

[0130] In some embodiments, based on the location information of the area, the area where water accumulation or siltation exists is identified in the inclined image model and the three-dimensional model of the target tailings pond; and / or,

[0131] Based on the recognition results and attribute information of the area of ​​waterlogging or siltation, an alarm message is generated.

[0132] In an embodiment of the present application, the surveying and mapping data information of the tailings pond collected by the drone can be used to construct a three-dimensional model of the tailings pond, and an inclined image model and a three-dimensional model of the tailings pond can be obtained. By performing semantic segmentation on the inclined image model and the three-dimensional model, data information of different monitoring objects such as the beach, tailings dam and drainage ditch can be obtained. Drainage anomalies of the monitored objects can be identified based on the data information, and drainage monitoring data of the tailings pond can be obtained. Manual inspections are no longer required, which not only saves manpower but also improves the efficiency of drainage monitoring of the tailings pond. The surveying and mapping of the tailings pond based on the drone makes the collection of the original data of the tailings pond more accurate and comprehensive, so that a more accurate inclined image model and a three-dimensional model can be constructed, thereby further improving the reliability and accuracy of drainage monitoring of the tailings pond.

[0133] In the above-mentioned embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspectives of the first communication device and the second communication device respectively.

[0134] The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device is proposed, the above device includes a unit or module for implementing each step performed in any of the above methods. In order to implement the various functions in the method provided by the above embodiments of the present application, the above device may include a hardware structure, a software module, and implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. A certain function of the above functions can be executed in the form of a hardware structure, a software module, or a hardware structure plus a software module.

[0135] It should be understood that the division of the units or modules in the above devices is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units or modules in the device can be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the units or modules of the above devices.

[0136] Figure 3 This is a schematic diagram of the structure of a drainage monitoring device for a tailings pond provided in an embodiment of the present application. Figure 3As shown, the drainage monitoring device 300 of the tailings pond includes: a data acquisition module 31, a three-dimensional modeling module 32, a semantic segmentation module 33, a drainage anomaly recognition module 34 and a real-time monitoring module 35.

[0137] In some embodiments, the data acquisition module 31 is used to obtain the surveying and mapping data information of the target tailings pond collected by the drone;

[0138] A three-dimensional modeling module 32 is used to perform three-dimensional modeling of the target tailings pond based on the surveying and mapping data to obtain an inclined image model and a three-dimensional model of the target tailings pond;

[0139] A semantic segmentation module 33 is used to perform semantic segmentation on the target tailings pond according to the oblique image model and the three-dimensional model to obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects at least include a beach, a tailings dam and a drainage ditch;

[0140] A drainage anomaly identification module 34, used to identify drainage anomalies of the monitored object according to the data information of the monitored object;

[0141] The real-time monitoring module 35 is used to generate drainage monitoring data of the target tailings pond according to the identification result of the monitoring object.

[0142] In some embodiments, the data acquisition module 31 is further used to: obtain a set flight route of the UAV, and control the UAV to survey and map the target tailings pond according to the flight route, obtain surveying and mapping data information of the target tailings pond, and receive surveying and mapping data information fed back by the UAV;

[0143] The surveying and mapping data information includes image data and spatial position data of the target tailings pond at different viewing angles.

[0144] In some embodiments, the tailings pond drainage monitoring device 300 further includes a data generating module 36 .

[0145] A data generation module 36 is used to perform three-dimensional reconstruction on the surveying and mapping data information to generate corresponding tailings pond model data, wherein the tailings pond model data includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the tailings pond;

[0146] The three-dimensional modeling module 32 is used to perform three-dimensional modeling of the target tailings pond according to the model-related data of the target tailings pond, so as to obtain an inclined image model and a three-dimensional model of the target tailings pond.

[0147] In some embodiments, the semantic segmentation module 33 is also used to perform semantic segmentation on the oblique image model and the three-dimensional model according to the reservoir beach, tailings dam and drainage ditch of the tailings pond to obtain digital surface models of the reservoir beach, tailings dam and drainage ditch respectively.

[0148] In some embodiments, the drainage anomaly identification module 34 is further used to:

[0149] The digital surface model of the monitored object is divided into regions to obtain N regions; the N regions are traversed, and for the currently traversed region m, a region m+1 adjacent to the region m is obtained; based on the associated data of the region m and the region m+1, it is identified whether there is water accumulation or siltation in the region m.

[0150] In some embodiments, the drainage anomaly identification module 34 is further used to:

[0151] A three-dimensional coordinate system is established in the digital surface model of the monitored object, and the center point of each area and the position coordinates of the center point are determined; according to the position coordinates of the center point, the slope and slope direction between the center point of the area m and the center point of the area m+1 are obtained; the first area area of ​​the area m and the second area area of ​​the area m+1 are obtained; according to the slope and slope direction, and the first area area and the second area area, it is identified whether there is water accumulation or siltation in the area m.

[0152] In some embodiments, the drainage anomaly identification module 34 is further used to:

[0153] If the slope is greater than the slope threshold corresponding to the monitored object, the area of ​​the first region is greater than the first area threshold corresponding to the monitored object, the slope directions are respectively in four quadrants, and the area of ​​the second region is greater than the second area threshold corresponding to the monitored object, it is determined that there is water accumulation or siltation in the area m.

[0154] In some embodiments, the real-time monitoring module 35 is further used to:

[0155] The location information, area number and area of ​​the area are obtained as the attribute information of the area; and the judgment result of the area and the attribute information of the area are associated and stored.

[0156] In some embodiments, the real-time monitoring module 35 is further used to:

[0157] According to the location information of the area, the area where water accumulation or siltation exists is identified in the inclined image model and the three-dimensional model of the target tailings pond; and / or, based on the judgment result and attribute information of the area where water accumulation or siltation exists, an alarm message is generated.

[0158] In some embodiments, the data acquisition module 31, the data generation module 36, the three-dimensional modeling module 32, the semantic segmentation module 33, the drainage anomaly identification module 34 and the real-time monitoring module 35 are connected in series in sequence.

[0159] In an embodiment of the present application, the surveying and mapping data information of the tailings pond collected by the drone can be used to construct a three-dimensional model of the tailings pond, and an inclined image model and a three-dimensional model of the tailings pond can be obtained. By performing semantic segmentation on the inclined image model and the three-dimensional model, data information of different monitoring objects such as the beach, tailings dam and drainage ditch can be obtained. Drainage anomalies of the monitored objects can be identified based on the data information, and drainage monitoring data of the tailings pond can be obtained. Manual inspections are no longer required, which not only saves manpower but also improves the efficiency of drainage monitoring of the tailings pond. The surveying and mapping of the tailings pond based on the drone makes the collection of the original data of the tailings pond more accurate and comprehensive, so that a more accurate inclined image model and a three-dimensional model can be constructed, thereby further improving the reliability and accuracy of drainage monitoring of the tailings pond.

[0160] Figure 4 As shown in FIG4 , the electronic device 400 may include: a transceiver 41 , a processor 42 , and a memory 43 .

[0161] The processor 42 executes the computer execution instructions stored in the memory, so that the processor 42 executes the scheme in the above embodiment. The processor 42 can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0162] The memory 43 is connected to the processor 42 via a system bus and completes communication between them. The memory 43 is used to store computer program instructions.

[0163] The transceiver 41 may be used to obtain tasks to be executed and configuration information of the tasks to be executed.

[0164] The system bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The transceiver is used to realize the communication between the database access device and other computers (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory.

[0165] The electronic device provided in the embodiments of the present disclosure may be the terminal device, computer or server of the above embodiments.

[0166] The disclosed embodiment also provides a chip for running instructions, which is used to execute the technical solution of the drainage monitoring method of the tailings pond in the above embodiment.

[0167] The embodiment of the present disclosure further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes the technical solution of the drainage monitoring method of the tailings pond in the above embodiment.

[0168] The embodiments of the present disclosure also provide a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, the technical solution of the drainage monitoring method of the tailings pond in the above-mentioned embodiment can be implemented.

[0169] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0170] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0171] A person skilled in the art may understand that the various numerical numbers such as first and second involved in the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application, and also indicate the order of precedence.

[0172] At least one in the present application can also be described as one or more, and a plurality can be two, three, four or more, which is not limited in the present application. In the embodiments of the present application, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no order of precedence or size between the technical features described by the "first", "second", "third", "A", "B", "C" and "D".

[0173] The corresponding relationships shown in each table in the present application can be configured or predefined. The values ​​of the information in each table are only examples and can be configured as other values, which are not limited by the present application. When configuring the corresponding relationship between the information and each parameter, it is not necessarily required to configure all the corresponding relationships illustrated in each table. For example, in the table in the present application, the corresponding relationships shown in some rows may not be configured. For another example, appropriate deformation adjustments can be made based on the above table, such as splitting, merging, etc. The names of the parameters shown in the titles of the above tables can also use other names that can be understood by the communication device, and the values ​​or representations of the parameters can also be other values ​​or representations that can be understood by the communication device. When implementing the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables.

[0174] The predefined in the present application may be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

[0175] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0176] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0177] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for monitoring drainage of a tailings pond, comprising the following steps: Obtain surveying and mapping data information of the target tailings pond collected by drones; Performing three-dimensional modeling of the target tailings pond based on the surveying and mapping data information to obtain an inclined image model and a three-dimensional model of the target tailings pond; According to the oblique image model and the three-dimensional model, semantic segmentation is performed on the target tailings pond to obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects at least include a beach surface, a tailings dam and a drainage ditch; Identify drainage anomalies of the monitored object according to the data information of the monitored object; Based on the identification result of the monitored object, drainage monitoring data of the target tailings pond is generated.

2. The method according to claim 1, characterized in that The acquisition of the surveying and mapping data information of the target tailings pond collected by the drone includes: Obtaining a set flight route of the UAV, and controlling the UAV to survey and map the target tailings pond according to the flight route, obtaining surveying and mapping data information of the target tailings pond, and receiving the surveying and mapping data information fed back by the UAV; The surveying and mapping data information includes image data and spatial position data of the target tailings pond at different viewing angles.

3. The method according to claim 1, characterized in that The three-dimensional modeling of the target tailings pond is performed based on the surveying and mapping data information to obtain an inclined image model and a three-dimensional model of the target tailings pond, including: Performing three-dimensional reconstruction on the surveying and mapping data information to generate model-related data of the target tailings pond, wherein the model-related data includes three-dimensional point cloud data, digital orthophoto data and digital elevation data of the target tailings pond; According to the model-related data of the target tailings pond, three-dimensional modeling is performed on the target tailings pond to obtain an inclined image model and a three-dimensional model of the target tailings pond.

4. The method according to claim 1, characterized in that: The target tailings pond is semantically segmented according to the oblique image model and the three-dimensional model to obtain data information of different monitoring objects of the target tailings pond, including: Based on the pre-trained semantic segmentation neural network, the oblique image model and the three-dimensional model are semantically segmented according to the reservoir beach, tailings dam and drainage ditch of the tailings pond to obtain the respective data information of the reservoir beach, tailings dam and drainage ditch, and the data information includes the digital surface model and attribute information of the monitored object.

5. The method according to claim 4, characterized in that The step of identifying drainage anomalies of the monitored object according to the data information of the monitored object includes: Based on the attribute information of the monitored object, the digital surface model of the monitored object is divided into regions to obtain N regions; Traverse the N regions, and for the currently traversed region m, obtain a region m+1 adjacent to the region m; Based on the associated data of the area m and the area m+1, it is identified whether there is water accumulation or siltation in the area m.

6. The method according to claim 5, characterized in that The identifying whether the area m has water accumulation or siltation based on the association data of the area m+1 adjacent to the area m includes: Establishing a three-dimensional coordinate system in the digital surface model of the monitored object, and determining the center point of each area and the position coordinates of the center point; According to the position coordinates of the center point, the slope and the slope direction between the center point of the area m and the center point of the area m+1 are obtained; Obtain a first area of ​​the area m and a second area of ​​the area m+1; According to the slope and the slope direction, as well as the area of ​​the first region and the area of ​​the second region, it is identified whether there is water accumulation or siltation in the region m.

7. The method according to claim 6, characterized in that: The step of identifying whether there is water accumulation or siltation in area m according to the slope and the slope direction, and the area of ​​the first area and the area of ​​the second area includes: If the slope is greater than the slope threshold corresponding to the monitored object, the area of ​​the first region is greater than the first area threshold corresponding to the monitored object, the slope directions are respectively in four quadrants, and the area of ​​the second region is greater than the second area threshold corresponding to the monitored object, it is determined that there is water accumulation or siltation in the area m.

8. The method according to claim 5, characterized in that After identifying whether the area m has water accumulation or siltation, the method further includes: Acquire the location information, area number and area of ​​the area as the attribute information of the area; The judgment result of the area and the attribute information of the area are associated and stored.

9. The method according to claim 5, characterized in that After associating and storing the judgment result of the area and the attribute information of the area, the method further includes: Based on the location information of the area, marking the area with water accumulation or siltation in the inclined image model and the three-dimensional model of the target tailings pond; and / or, Based on the judgment result and attribute information of the area of ​​water accumulation or siltation, an alarm message is generated.

10. A tailings pond water drainage monitoring device, characterized in that: The device comprises: A data acquisition module is used to obtain the surveying and mapping data information of the target tailings pond collected by the drone; A three-dimensional modeling module, used to perform three-dimensional modeling of the target tailings pond based on the surveying and mapping data, and obtain an inclined image model and a three-dimensional model of the target tailings pond; A semantic segmentation module, configured to perform semantic segmentation on the target tailings pond according to the oblique image model and the three-dimensional model, and obtain data information of different monitoring objects of the target tailings pond, wherein the monitoring objects include at least a beach surface, a tailings dam and a drainage ditch; A drainage anomaly identification module, used to identify drainage anomalies of the monitored object according to the data information of the monitored object; The real-time monitoring module is used to generate drainage monitoring data of the target tailings pond according to the identification result of the monitored object.

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