Safety monitoring method and device for tailings pond, electronic equipment and storage medium

Abstract

The invention relates to a safety monitoring method and device for a tailing pond, electronic equipment and a storage medium. The method comprises the steps that surveying and mapping data information, collected by an unmanned aerial vehicle, of a target tailing pond is obtained; performing reconstruction processing on the surveying and mapping data information to obtain modeling data of the target tailings pond; constructing a three-dimensional model of the target tailings pond according to the modeling data; according to the three-dimensional model, carrying out segmentation processing on the reservoir area water surface line of the target tailing pond to extract a position coordinate set of the reservoir area water surface line in a three-dimensional space, and generating a corresponding reservoir area water surface line elevation data set; based on the position coordinate set and the reservoir area water surface line elevation data set, analyzing and processing the section where each reservoir area water surface line is located to obtain safety data and dry beach length data corresponding to each section; and performing safety monitoring on the target tailing pond according to the safety data corresponding to each section and the dry beach length data, thereby improving the reliability, accuracy and reliability of safety monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety monitoring, and in particular to a method, device, electronic equipment and storage medium for safety monitoring of a tailings pond. Background Art

[0002] With the continuous development of mining in my country, tailings ponds, as important supporting facilities for mining production, are numerous and widely distributed. However, many tailings ponds have entered the late stage of operation, facing severe problems such as reduced storage capacity, weakened flood control capacity, and reduced ability to resist natural disasters, and safety hazards are becoming increasingly prominent. Therefore, strengthening the safety monitoring of tailings ponds and ensuring their stable operation has become an urgent need to ensure mining safety, environmental safety, and the safety of people's lives and property. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, the first object of the present invention is to propose a safety monitoring method for a tailings pond, which performs real-time monitoring of the tailings pond based on an unmanned aerial vehicle, thereby improving the reliability, accuracy and dependability of safety monitoring.

[0005] The second object of the present invention is to provide a safety monitoring device for a tailings pond.

[0006] A third objective of the present invention is to provide an electronic device.

[0007] A fourth object of the present invention is to provide a computer-readable storage medium.

[0008] A fifth object of the present invention is to provide a computer program product.

[0009] To achieve the above-mentioned purpose, the first aspect of the embodiment of the present invention proposes a safety monitoring method for a tailings pond, comprising: obtaining surveying and mapping data information of a target tailings pond collected by a drone; reconstructing the surveying and mapping data information to obtain modeling data of the target tailings pond; constructing a three-dimensional model of the target tailings pond based on the modeling data; segmenting the reservoir water surface line of the target tailings pond based on the three-dimensional model to extract a position coordinate set of the reservoir water surface line in the three-dimensional space, and generating a corresponding reservoir water surface line elevation data set; based on the position coordinate set and the reservoir water surface line elevation data set, analyzing and processing the sections where the reservoir water surface lines are located to obtain safety data and dry beach length data corresponding to each section; and performing safety monitoring on the target tailings pond based on the safety data and dry beach length data corresponding to each section.

[0010] According to the safety monitoring method of the tailings pond of the embodiment of the present invention, the surveying and mapping data information of the target tailings pond collected by the unmanned aerial vehicle is first obtained, and the surveying and mapping data information is reconstructed to obtain the modeling data of the target tailings pond, and the three-dimensional model of the target tailings pond is constructed according to the modeling data, and then the reservoir water surface line of the target tailings pond is segmented according to the three-dimensional model to extract the position coordinate set of the reservoir water surface line in the three-dimensional space, and generate the corresponding reservoir water surface line elevation data set, and based on the position coordinate set and the reservoir water surface line elevation data set, the profile where each reservoir water surface line is located is analyzed and processed to obtain the safety data and dry beach length data corresponding to each profile, and finally the target tailings pond is safety monitored according to the safety data and dry beach length data corresponding to each profile. Therefore, the method performs real-time monitoring of the tailings pond based on the unmanned aerial vehicle, and improves the reliability, accuracy and reliability of safety monitoring.

[0011] In addition, the safety monitoring method for the tailings pond proposed in the first aspect of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, the step of obtaining surveying and mapping data information of a target tailings pond collected by a drone includes:

[0013] Get the flight route of the set drone;

[0014] Controlling the drone to survey the target tailings pond according to the flight route to obtain surveying data information of the target tailings pond; wherein the surveying data information includes image data and spatial position data of the target tailings pond at different viewing angles;

[0015] Receive the surveying and mapping data information fed back by the drone.

[0016] According to one embodiment of the present invention, the reconstructing the surveying and mapping data information to obtain the modeling data of the target tailings pond includes:

[0017] Performing data filtering processing on the surveying and mapping data information;

[0018] The surveying and mapping data information obtained after filtering is reconstructed to generate modeling data of the target tailings pond; wherein the modeling data includes three-dimensional point cloud data, digital orthophoto data and digital modeling elevation data of the target tailings pond.

[0019] According to an embodiment of the present invention, the three-dimensional model includes: a digital oblique image model and a digital surface model.

[0020] According to one embodiment of the present invention, the water surface line of the target tailings pond is segmented according to the three-dimensional model to extract a position coordinate set of the water surface line of the reservoir area in the three-dimensional space, and generate a corresponding water surface line elevation data set of the reservoir area, including:

[0021] Based on the pre-trained semantic segmentation neural network, the digital oblique image model and the digital surface model are semantically segmented according to the water surface line of the target tailings pond to extract the position coordinate set of the water surface line of the reservoir area in the three-dimensional space and generate the corresponding water surface line elevation data set of the reservoir area.

[0022] According to an embodiment of the present invention, the section where each reservoir water surface line is located is analyzed and processed based on the position coordinate set and the reservoir water surface line elevation data set to obtain safety data and dry beach length data corresponding to each section, including:

[0023] Based on the position coordinate set, the water surface line of the reservoir area is divided into equal intervals according to a preset difference value to obtain n water surface line segmentation points;

[0024] Starting from each water surface line segmentation point, using its position coordinates in the three-dimensional model, draw perpendicular lines to the beach top line of the target tailings pond to obtain n perpendicular foot points;

[0025] Constructing n sections perpendicular to the water surface line of the reservoir area through n perpendicular foot points;

[0026] For each constructed section, using the position coordinates in the position coordinate set, calculate the horizontal distance from each point on the reservoir water surface line to the corresponding perpendicular foot point to obtain the section length;

[0027] Based on the reservoir area water surface elevation data set, determining the safe superelevation value of each section;

[0028] According to the section length and safety superelevation value of each section, calculate the dry beach length of the corresponding section.

[0029] According to one embodiment of the present invention, the safety monitoring of the target tailings pond according to the safety data and dry beach length data corresponding to each section includes:

[0030] Obtain the safety data h1~h corresponding to each section of the target tailings pond n And dry beach length data L1~L n ;

[0031] In the safety data h1~h n And dry beach length data L1~L n In the above example, we select the minimum value h of the safety data. minand the minimum value L of the dry beach length data min ;

[0032] According to the minimum value of safety data h min and the minimum value L of the dry beach length data min , conduct safety monitoring on the target tailings pond; wherein,

[0033] If h min >h T And L min >L T , it is determined that the target tailings pond is currently in a safe state;

[0034] If h min ≤h T or L min ≤L T , it is determined that the target tailings pond is currently in an abnormal state;

[0035] Among them, h T To set the safety high threshold, L T To set the dry beach length threshold.

[0036] To achieve the above-mentioned purpose, the second aspect of the present invention proposes a safety monitoring device for a tailings pond, comprising: an acquisition module for acquiring surveying and mapping data information of a target tailings pond collected by a drone; a reconstruction processing module for reconstructing the surveying and mapping data information to obtain modeling data of the target tailings pond; a construction module for constructing a three-dimensional model of the target tailings pond according to the modeling data; a segmentation processing module for segmenting the reservoir water surface line of the target tailings pond according to the three-dimensional model to extract a position coordinate set of the reservoir water surface line in the three-dimensional space and generate a corresponding reservoir water surface line elevation data set; an analysis and processing module for analyzing and processing the sections where the reservoir water surface lines are located based on the position coordinate set and the reservoir water surface line elevation data set to obtain safety data and dry beach length data corresponding to each section; a safety monitoring module for safety monitoring the target tailings pond according to the safety data and dry beach length data corresponding to each section.

[0037] According to the safety monitoring device of the tailings pond of the embodiment of the present invention, the acquisition module acquires the surveying and mapping data information of the target tailings pond collected by the drone, the reconstruction processing module reconstructs the surveying and mapping data information to obtain the modeling data of the target tailings pond, the construction module constructs the three-dimensional model of the target tailings pond according to the modeling data, the segmentation processing module segments the water surface line of the reservoir area of ​​the target tailings pond according to the three-dimensional model, so as to extract the position coordinate set of the water surface line of the reservoir area in the three-dimensional space, and generate the corresponding water surface line elevation data set of the reservoir area, the analysis processing module analyzes and processes the sections where the water surface lines of each reservoir area are located based on the position coordinate set and the water surface line elevation data set of the reservoir area, so as to obtain the safety data and dry beach length data corresponding to each section, and the safety monitoring module performs safety monitoring on the target tailings pond according to the safety data and dry beach length data corresponding to each section. Thus, the device performs real-time monitoring of the tailings pond based on the drone, and improves the reliability, accuracy and reliability of safety monitoring.

[0038] In addition, the safety monitoring device for the tailings pond provided in the second embodiment of the present invention may also have the following additional technical features:

[0039] According to one embodiment of the present invention, when the acquisition module is used to acquire the surveying and mapping data information of the target tailings pond collected by the drone, it includes:

[0040] Get the flight route of the set drone;

[0041] Controlling the drone to survey the target tailings pond according to the flight route to obtain surveying data information of the target tailings pond; wherein the surveying data information includes image data and spatial position data of the target tailings pond at different viewing angles;

[0042] Receive the surveying and mapping data information fed back by the drone.

[0043] According to one embodiment of the present invention, the reconstruction processing module is used to reconstruct the surveying and mapping data information to obtain the modeling data of the target tailings pond, including:

[0044] Performing data filtering processing on the surveying and mapping data information;

[0045] The surveying and mapping data information obtained after filtering is reconstructed to generate modeling data of the target tailings pond; wherein the modeling data includes three-dimensional point cloud data, digital orthophoto data and digital modeling elevation data of the target tailings pond.

[0046] According to an embodiment of the present invention, the three-dimensional model includes: a digital oblique image model and a digital surface model.

[0047] According to one embodiment of the present invention, the segmentation processing module is used to segment the reservoir water surface line of the target tailings pond according to the three-dimensional model to extract the position coordinate set of the reservoir water surface line in the three-dimensional space and generate the corresponding reservoir water surface line elevation data set, including:

[0048] Based on the pre-trained semantic segmentation neural network, the digital oblique image model and the digital surface model are semantically segmented according to the water surface line of the target tailings pond to extract the position coordinate set of the water surface line of the reservoir area in the three-dimensional space and generate the corresponding water surface line elevation data set of the reservoir area.

[0049] According to an embodiment of the present invention, the section where each reservoir water surface line is located is analyzed and processed based on the position coordinate set and the reservoir water surface line elevation data set to obtain safety data and dry beach length data corresponding to each section, including:

[0050] Based on the position coordinate set, the water surface line of the reservoir area is divided into equal intervals according to a preset difference value to obtain n water surface line segmentation points;

[0051] Starting from each water surface line segmentation point, using its position coordinates in the three-dimensional model, draw perpendicular lines to the beach top line of the target tailings pond to obtain n perpendicular foot points;

[0052] Constructing n sections perpendicular to the water surface line of the reservoir area through n perpendicular foot points;

[0053] For each constructed section, using the position coordinates in the position coordinate set, calculate the horizontal distance from each point on the reservoir water surface line to the corresponding perpendicular foot point to obtain the section length;

[0054] Based on the reservoir area water surface elevation data set, determining the safe superelevation value of each section;

[0055] According to the section length and safety superelevation value of each section, calculate the dry beach length of the corresponding section.

[0056] According to one embodiment of the present invention, the safety monitoring module is used to perform safety monitoring on the target tailings pond according to the safety data and dry beach length data corresponding to each section, including:

[0057] Obtain the safety data h1~h corresponding to each section of the target tailings pond n And dry beach length data L1~L n ;

[0058] In the safety data h1~h n And dry beach length data L1~L n In the above example, we select the minimum value h of the safety data.min and the minimum value L of the dry beach length data min ;

[0059] According to the minimum value of safety data h min and the minimum value L of the dry beach length data min , conduct safety monitoring on the target tailings pond; wherein,

[0060] If h min >h T And L min >L T , it is determined that the target tailings pond is currently in a safe state;

[0061] If h min ≤h T or L min ≤L T , it is determined that the target tailings pond is currently in an abnormal state;

[0062] Among them, h T To set the safety high threshold, L T To set the dry beach length threshold.

[0063] To achieve the above object, the third aspect of the present invention further provides an electronic device, including:

[0064] at least one processor; and

[0065] a memory communicatively connected to the at least one processor; wherein,

[0066] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor so that the at least one processor can perform the above method.

[0067] The battery device of the embodiment of the present invention improves the reliability, accuracy and dependability of safety monitoring by executing the above method and performing real-time monitoring of the tailings pond based on a drone.

[0068] To achieve the above objectives, the fourth aspect of the present invention further proposes a computer-readable storage medium, wherein the computer instructions are used to enable the computer to execute the above method.

[0069] The computer-readable storage medium of an embodiment of the present invention improves the reliability, accuracy and dependability of safety monitoring by executing the above method and performing real-time monitoring of the tailings pond based on a drone.

[0070] To achieve the above-mentioned purpose, a fifth aspect of the present invention further provides a computer program product, which executes the above-mentioned method when an instruction processor in the computer program product executes it.

[0071] The computer program product of the embodiment of the present invention improves the reliability, accuracy and dependability of safety monitoring by executing the above method and performing real-time monitoring of the tailings pond based on a drone.

[0072] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0074] Figure 1 is a flow chart of a safety monitoring method for a tailings pond according to an embodiment of the present invention;

[0075] Figure 2 is a schematic diagram of a water surface line and a beach top line according to an embodiment of the present invention;

[0076] Figure 3 4 is a block diagram of a safety monitoring device for a tailings pond according to an embodiment of the present invention. DETAILED DESCRIPTION

[0077] 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.

[0078] It should be noted that the tailings pond safety 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.

[0079] The following describes the safety monitoring method, device, electronic device and storage medium of a tailings pond according to an embodiment of the present invention with reference to the accompanying drawings.

[0080] At present, the requirements for monitoring the dry beach length of tailings ponds are: "Based on the dam length and the curvature of the waterside line, 1-3 monitoring cross sections should be arranged at the shorter length of the dry beach"; the requirements for monitoring the elevation of the tailings pond beach top are: "1-3 monitoring points should be arranged at the lower location every 100m, and the total number of monitoring points should not be less than 3."

[0081] However, for tailings ponds with long tailings dam axes and long tailings ponds, more monitoring sections and monitoring points need to be arranged, and the traditional online monitoring and early warning system cannot fully meet the requirements of relevant regulations. Moreover, the accumulation process of tailings ponds is a dynamic process, and the arrangement of its monitoring sections and monitoring points will continue to change with the accumulation process of the tailings pond. The traditional online monitoring and early warning system cannot meet the requirements of "lower places, shorter places, and curved places of the waterside line" in real time in the relevant regulations. In addition, since the beach top of the tailings pond is not at the same elevation, the horizontal distance of the water surface line from the beach top will vary with the position of the waterside line and the dam axis; this will make the dry beach length and safety super-high data obtained by the traditional online monitoring system inaccurate, making it impossible for the existing online monitoring and early warning system of tailings ponds to accurately issue safety warnings.

[0082] To this end, the present invention proposes a safety monitoring method for a tailings pond, which performs real-time monitoring of the tailings pond based on an unmanned aerial vehicle, thereby improving the reliability, accuracy and dependability of safety monitoring.

[0083] Figure 1 4 is a flow chart of a method for safety monitoring of a tailings pond according to an embodiment of the present invention.

[0084] It should be noted that the safety monitoring method for the tailings pond provided in the embodiment of the present application is configured on an electronic device, which may be a terminal device or a server, etc., and can realize safety monitoring of the tailings pond based on the surveying and mapping data information collected by the drone.

[0085] like Figure 1 As shown, the safety monitoring method of the tailings pond according to the embodiment of the present invention comprises:

[0086] S1, obtain the surveying and mapping data information of the target tailings pond collected by the drone.

[0087] The surveying and mapping data information includes but is not limited to image data and spatial position data of the target tailings pond at different viewing angles.

[0088] The execution process of step S1 is as follows: obtaining the set flight route of the UAV; 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; and receiving the surveying and mapping data information fed back by the UAV.

[0089] Specifically, it may include presetting the monitoring time and the flight route of the drone, generating a monitoring task based on the monitoring time and the flight route, and sending the monitoring task to the drone, and the drone may 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 may be received.

[0090] S2, reconstructing the surveying and mapping data information to obtain the modeling data of the target tailings pond.

[0091] The execution process of step S2 is as follows: performing data filtering processing on the surveying and mapping data information; reconstructing the surveying and mapping data information obtained after filtering processing to generate modeling data of the target tailings pond; wherein the modeling data includes three-dimensional point cloud data, digital orthophoto data and digital modeling elevation data of the target tailings pond.

[0092] Specifically, all the obtained surveying and mapping data information can be converted into a unified format or standard for subsequent processing. For example, the surveying and mapping data information can be filtered using a filtering algorithm (such as Gaussian filtering, median filtering, etc.) to remove noise points introduced by measurement errors, environmental factors, etc., and improve data quality. In addition, outliers that obviously deviate from the overall surveying and mapping data information trend can be identified and eliminated to ensure the accuracy of subsequent modeling; and the filtered surveying and mapping data information can be smoothed to further reduce small fluctuations in the surveying and mapping data information, making the surveying and mapping data information smoother and more coherent.

[0093] The three-dimensional point cloud data generation process includes: using the ICP (iterative closest point) algorithm or other point cloud registration technology to accurately align the point cloud data obtained from different perspectives or different time periods for the surveying and mapping data information obtained after filtering to form a complete three-dimensional point cloud model; based on the processed point cloud data, using Poisson reconstruction, moving least squares method and other algorithms to generate a three-dimensional surface model of the target tailings pond.

[0094] The process of generating digital orthophoto data includes: stitching together multiple high-definition images taken from aerial or ground photography to form a complete image of the tailings pond area; orthorectifying the stitched images through digital elevation models (DEM) or ground control points to eliminate geometric distortion caused by shooting angles and terrain undulations, and generating digital orthophoto data (DOM).

[0095] The process of generating digital modeling elevation data includes: based on the elevation information in the point cloud data, using spatial interpolation methods such as the inverse distance weighted method (IDW) and the Kriging interpolation method to generate an elevation model (DEM) of the tailings pond area. In the process of generating digital modeling elevation data, it can also include: automatically or semi-automatically extracting contour lines from the DEM as a supplementary expression of the terrain characteristics of the tailings pond.

[0096] S3, construct a three-dimensional model of the target tailings pond based on the modeling data.

[0097] Among them, the three-dimensional model includes: digital oblique image model and digital surface model.

[0098] For example, you can choose appropriate 3D modeling software such as ArcGIS, 3ds Max, SketchUp, or GIS and 3D modeling software, which should support building 3D models from point cloud data, DOM, and DEM.

[0099] S4, based on the three-dimensional model, the water surface line of the target tailings pond is segmented to extract the position coordinate set of the water surface line in the three-dimensional space, and generate the corresponding water surface line elevation data set.

[0100] When executing step S4, based on the pre-trained semantic segmentation neural network, the digital oblique image model and the digital surface model are semantically segmented according to the water surface line of the target tailings pond to extract the position coordinate set of the water surface line of the reservoir area in three-dimensional space and generate the corresponding water surface line elevation data set of the reservoir area.

[0101] Specifically, the digital oblique image model and the digital surface model are used as input data and imported into the pre-trained semantic segmentation neural network. The semantic segmentation neural network can automatically identify and distinguish different types of objects in the image, such as water bodies, land, vegetation, etc. Then, the continuous water area boundary is converted into a set of position coordinates in three-dimensional space. These coordinate sets can fully describe the shape, direction and specific position of the reservoir water surface line in three-dimensional space. After that, each extracted water surface line position coordinate is matched with the elevation data of the corresponding position in the DEM, and accurate elevation values ​​are assigned to these coordinates. In this way, each point on the water surface line has complete three-dimensional coordinate information (X, Y, Z), where the Z coordinate represents the elevation value of the point.

[0102] S5, based on the position coordinate set and the reservoir water surface line elevation data set, the profiles where the water surface lines of each reservoir area are located are analyzed and processed to obtain the safety data and dry beach length data corresponding to each profile.

[0103] When executing step S5, based on the position coordinate set, the water surface line of the reservoir area is divided into equal intervals according to the preset difference value to obtain n water surface line segmentation points; starting from each water surface line segmentation point, using its position coordinate in the three-dimensional model, a perpendicular line is drawn to the beach top line of the target tailings pond to obtain n perpendicular foot points; through the n perpendicular foot points, n sections perpendicular to the water surface line of the reservoir area are constructed, such as Figure 2 As shown; for each constructed section, the horizontal distance from each point on the reservoir water surface line to the corresponding vertical foot point is calculated using the position coordinates in the position coordinate set to obtain the section length; based on the reservoir water surface line elevation data set, the safety superelevation value of each section is determined; according to the section length and safety superelevation value of each section, the dry beach length of the corresponding section is calculated.

[0104] Specifically, the dry beach length on the profile can be calculated using the following formula (1):

[0105]

[0106] Among them, L i is the length of the dry beach on the i-th section; S i is the section length on the i-th section; h i is the safe superelevation value on the i-th section; the value of i ranges from 1 to n.

[0107] S6. Conduct safety monitoring of the target tailings pond based on the safety data and dry beach length data corresponding to each profile.

[0108] When executing step S6, the safety data h1~h1 corresponding to each section of the target tailings pond are obtained. n And dry beach length data L1~L n ; In the safety data h1~h n And dry beach length data L1~L n In the above example, we select the minimum value h of the safety data. min and the minimum value L of the dry beach length data min ; According to the minimum value of safety data h min and the minimum value L of the dry beach length data min , conduct safety monitoring on the target tailings pond; if h min >h T And L min >L T , then it is determined that the target tailings pond is currently in a safe state; if h min ≤h T or L min ≤L T , it is determined that the target tailings pond is currently in an abnormal state; where h T To set the safety high threshold, L T To set the dry beach length threshold.

[0109] For example:

[0110] If only h min ≤h T , a warning of insufficient safety overheight value is issued, and corresponding safety measures are prompted to be taken, such as reducing discharge or strengthening the dam body.

[0111] If only L min ≤L T , a warning of insufficient dry beach length is issued and a recommendation to increase the dry beach length may be achieved by adjusting the discharge strategy or conducting dredging operations.

[0112] If h min ≤h T And L min ≤L T, a dual warning of safety overheight and insufficient dry beach length will be issued at the same time, and the emergency plan will be immediately activated and emergency measures will be taken to ensure the safety of the tailings pond.

[0113] For any abnormal situation, the system should automatically record the abnormal time, type and corresponding parameter value, and generate a report for management personnel to refer to. At the same time, the system should support sending emergency notifications to relevant personnel through SMS, email, etc.

[0114] Through the above steps, a comprehensive, timely and accurate assessment of the safety status of the target tailings pond can be achieved, thereby effectively preventing and controlling potential safety risks.

[0115] In summary, according to the safety monitoring method of the tailings pond of the embodiment of the present invention, the surveying and mapping data information of the target tailings pond collected by the drone is first obtained, and the surveying and mapping data information is reconstructed to obtain the modeling data of the target tailings pond, and the three-dimensional model of the target tailings pond is constructed according to the modeling data, and then the reservoir water surface line of the target tailings pond is segmented according to the three-dimensional model to extract the position coordinate set of the reservoir water surface line in the three-dimensional space, and generate the corresponding reservoir water surface line elevation data set, and based on the position coordinate set and the reservoir water surface line elevation data set, the profiles where the reservoir water surface lines are located are analyzed and processed to obtain the safety data and dry beach length data corresponding to each profile, and finally the target tailings pond is safety monitored according to the safety data and dry beach length data corresponding to each profile. Therefore, the method performs real-time monitoring of the tailings pond based on the drone, which improves the reliability, accuracy and reliability of safety monitoring.

[0116] Figure 3 4 is a block diagram of a safety monitoring device for a tailings pond according to an embodiment of the present invention.

[0117] like Figure 3 As shown, the safety monitoring device 100 of the tailings pond according to the embodiment of the present invention includes: an acquisition module 110 , a reconstruction processing module 120 , a construction module 130 , a segmentation processing module 140 , an analysis processing module 150 , and a safety monitoring module 160 .

[0118] Among them, the acquisition module 110 is used to obtain the surveying and mapping data information of the target tailings pond collected by the drone. The reconstruction processing module 120 is used to reconstruct the surveying and mapping data information to obtain the modeling data of the target tailings pond. The construction module 130 is used to construct a three-dimensional model of the target tailings pond based on the modeling data. The segmentation processing module 140 is used to segment the reservoir water surface line of the target tailings pond according to the three-dimensional model to extract the position coordinate set of the reservoir water surface line in the three-dimensional space and generate the corresponding reservoir water surface line elevation data set. The analysis processing module 150 is used to analyze and process the sections where the reservoir water surface lines are located based on the position coordinate set and the reservoir water surface line elevation data set to obtain the safety data and dry beach length data corresponding to each section. The safety monitoring module 160 is used to perform safety monitoring on the target tailings pond based on the safety data and dry beach length data corresponding to each section.

[0119] According to one embodiment of the present invention, when the acquisition module 110 is used to acquire the surveying and mapping data information of the target tailings pond collected by the drone, it includes:

[0120] Get the flight route of the set drone;

[0121] Control the UAV to map the target tailings pond according to the flight route to obtain mapping data information of the target tailings pond; wherein the mapping data information includes image data and spatial position data of the target tailings pond at different viewing angles;

[0122] Receive surveying and mapping data information fed back by drones.

[0123] According to one embodiment of the present invention, the reconstruction processing module 120 is used to reconstruct the surveying and mapping data information to obtain the modeling data of the target tailings pond, including:

[0124] Perform data filtering on surveying and mapping data information;

[0125] The surveying and mapping data information obtained after filtering is reconstructed to generate modeling data of the target tailings pond; wherein the modeling data includes three-dimensional point cloud data, digital orthophoto data and digital modeling elevation data of the target tailings pond.

[0126] According to an embodiment of the present invention, the three-dimensional model includes: a digital oblique image model and a digital surface model.

[0127] According to one embodiment of the present invention, the segmentation processing module 140 is used to segment the reservoir water surface line of the target tailings pond according to the three-dimensional model to extract the position coordinate set of the reservoir water surface line in the three-dimensional space and generate the corresponding reservoir water surface line elevation data set, including:

[0128] Based on the pre-trained semantic segmentation neural network, the digital oblique image model and the digital surface model are semantically segmented according to the water surface line of the target tailings pond to extract the position coordinate set of the water surface line in the three-dimensional space and generate the corresponding water surface line elevation data set.

[0129] According to one embodiment of the present invention, based on the position coordinate set and the reservoir water surface line elevation data set, the profiles where the reservoir water surface lines are located are analyzed and processed to obtain the safety data and dry beach length data corresponding to each profile, including:

[0130] Based on the position coordinate set, the water surface line of the reservoir area is divided into equal intervals according to the preset difference value to obtain n water surface line segmentation points;

[0131] Starting from each water surface line segmentation point, using its position coordinates in the three-dimensional model, draw a perpendicular line to the beach top line of the target tailings pond to obtain n perpendicular foot points;

[0132] Through n perpendicular foot points, n sections perpendicular to the water surface line of the reservoir are constructed;

[0133] For each constructed section, the horizontal distance from each point on the reservoir water surface line to the corresponding perpendicular foot point is calculated using the position coordinates in the position coordinate set to obtain the section length;

[0134] Based on the reservoir water surface elevation data set, determine the safe superelevation value of each section;

[0135] According to the section length and safety superelevation value of each section, calculate the dry beach length of the corresponding section.

[0136] According to an embodiment of the present invention, the safety monitoring module 160 is used to perform safety monitoring on the target tailings pond according to the safety data and dry beach length data corresponding to each profile, including:

[0137] Obtain the safety data h1~h corresponding to each section of the target tailings pond n And dry beach length data L1~L n ;

[0138] In the safety data h1~h n And dry beach length data L1~L n In the above example, we select the minimum value h of the safety data. min and the minimum value L of the dry beach length data min ;

[0139] According to the minimum value of safety data h min and the minimum value L of the dry beach length data min , conduct safety monitoring of the target tailings pond; among them,

[0140] If hmin >h T And L min >L T , it is determined that the target tailings pond is currently in a safe state;

[0141] If h min ≤h T or L min ≤L T , it is determined that the target tailings pond is currently in an abnormal state;

[0142] Among them, h T To set the safety high threshold, L T To set the dry beach length threshold.

[0143] It should be noted that for details not disclosed in the safety monitoring device for the tailings pond in the embodiment of the present invention, please refer to the details disclosed in the safety monitoring method for the tailings pond in the embodiment of the present invention, and the details will not be repeated here.

[0144] According to the safety monitoring device of the tailings pond of the embodiment of the present invention, the acquisition module acquires the surveying and mapping data information of the target tailings pond collected by the drone, the reconstruction processing module reconstructs the surveying and mapping data information to obtain the modeling data of the target tailings pond, the construction module constructs the three-dimensional model of the target tailings pond according to the modeling data, the segmentation processing module segments the water surface line of the reservoir area of ​​the target tailings pond according to the three-dimensional model, so as to extract the position coordinate set of the water surface line of the reservoir area in the three-dimensional space, and generate the corresponding water surface line elevation data set of the reservoir area, the analysis processing module analyzes and processes the sections where the water surface lines of each reservoir area are located based on the position coordinate set and the water surface line elevation data set of the reservoir area, so as to obtain the safety data and dry beach length data corresponding to each section, and the safety monitoring module performs safety monitoring on the target tailings pond according to the safety data and dry beach length data corresponding to each section. Thus, the device performs real-time monitoring of the tailings pond based on the drone, and improves the reliability, accuracy and reliability of safety monitoring.

[0145] Based on the above embodiments, the present invention further provides an electronic device.

[0146] An electronic device according to an embodiment of the present invention comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above method.

[0147] The battery device of the embodiment of the present invention improves the reliability, accuracy and dependability of safety monitoring by executing the above method and performing real-time monitoring of the tailings pond based on a drone.

[0148] Based on the above embodiments, the present invention also proposes a computer-readable storage medium.

[0149] The computer instructions in the computer-readable storage medium of the embodiment of the present invention are used to enable a computer to execute the above method.

[0150] The computer-readable storage medium of an embodiment of the present invention improves the reliability, accuracy and dependability of safety monitoring by executing the above method and performing real-time monitoring of the tailings pond based on a drone.

[0151] Based on the above embodiments, the present invention also proposes a computer program product.

[0152] In an embodiment of the present invention, when an instruction processor in a computer program product executes, the above method is performed.

[0153] The computer program product of the embodiment of the present invention improves the reliability, accuracy and dependability of safety monitoring by executing the above method and performing real-time monitoring of the tailings pond based on a drone.

[0154] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0155] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0156] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0157] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0158] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0159] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0160] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0161] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A safety monitoring method for a tailings pond, characterized in that: include: Obtain surveying and mapping data information of the target tailings pond collected by drones; Reconstructing the surveying and mapping data information to obtain modeling data of the target tailings pond; Constructing a three-dimensional model of the target tailings pond according to the modeling data; According to the three-dimensional model, the water surface line of the target tailings pond is segmented to extract the position coordinate set of the water surface line of the reservoir area in the three-dimensional space, and generate a corresponding water surface line elevation data set of the reservoir area; Based on the position coordinate set and the reservoir water surface line elevation data set, the sections where the reservoir water surface lines are located are analyzed and processed to obtain the safety data and dry beach length data corresponding to each section; The target tailings pond is safety monitored based on the safety data and dry beach length data corresponding to each section.

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: Get the flight route of the set drone; Controlling the drone to survey the target tailings pond according to the flight route to obtain surveying data information of the target tailings pond; wherein the surveying data information includes image data and spatial position data of the target tailings pond at different viewing angles; Receive the surveying and mapping data information fed back by the drone.

3. The method according to claim 1, characterized in that The reconstructing the surveying and mapping data information to obtain the modeling data of the target tailings pond includes: Performing data filtering processing on the surveying and mapping data information; The surveying and mapping data information obtained after filtering is reconstructed to generate modeling data of the target tailings pond; wherein the modeling data includes three-dimensional point cloud data, digital orthophoto data and digital modeling elevation data of the target tailings pond.

4. The method according to claim 1, characterized in that: The three-dimensional model includes: a digital oblique image model and a digital surface model.

5. The method according to claim 1, characterized in that The method of segmenting the water surface line of the target tailings pond according to the three-dimensional model to extract a set of position coordinates of the water surface line of the reservoir area in the three-dimensional space and generating a corresponding set of elevation data of the water surface line of the reservoir area includes: Based on the pre-trained semantic segmentation neural network, the digital oblique image model and the digital surface model are semantically segmented according to the water surface line of the target tailings pond to extract the position coordinate set of the water surface line of the reservoir area in the three-dimensional space and generate the corresponding water surface line elevation data set of the reservoir area.

6. The method according to claim 1, characterized in that The section where each reservoir water surface line is located is analyzed and processed based on the position coordinate set and the reservoir water surface line elevation data set to obtain safety data and dry beach length data corresponding to each section, including: Based on the position coordinate set, the water surface line of the reservoir area is divided into equal intervals according to a preset difference value to obtain n water surface line segmentation points; Starting from each water surface line segmentation point, using its position coordinates in the three-dimensional model, draw perpendicular lines to the beach top line of the target tailings pond to obtain n perpendicular foot points; Constructing n sections perpendicular to the water surface line of the reservoir area through n perpendicular foot points; For each constructed section, using the position coordinates in the position coordinate set, calculate the horizontal distance from each point on the reservoir water surface line to the corresponding perpendicular foot point to obtain the section length; Based on the reservoir area water surface elevation data set, determining the safe superelevation value of each section; According to the section length and safety superelevation value of each section, calculate the dry beach length of the corresponding section.

7. The method according to claim 1, characterized in that The safety monitoring of the target tailings pond according to the safety data and dry beach length data corresponding to each section includes: Obtain the safety data h1~h corresponding to each section of the target tailings pond n And dry beach length data L1~L n ; In the safety data h1~h n And dry beach length data L1~L n In the above example, we select the minimum value h of the safety data. min and the minimum value L of the dry beach length data min ; According to the minimum value of safety data h min and the minimum value L of the dry beach length data min , conduct safety monitoring on the target tailings pond; wherein, If h min >h T And L min >L T , it is determined that the target tailings pond is currently in a safe state; If h min ≤h T or L min ≤L T , it is determined that the target tailings pond is currently in an abnormal state; Among them, h T To set the safety high threshold, L T To set the dry beach length threshold.

8. A safety monitoring device for a tailings pond, characterized in that: include: An acquisition module is used to obtain the surveying and mapping data information of the target tailings pond collected by the drone; A reconstruction processing module, used to reconstruct the surveying and mapping data information to obtain modeling data of the target tailings pond; A construction module, used to construct a three-dimensional model of the target tailings pond according to the modeling data; A segmentation processing module, used for segmenting the reservoir water surface line of the target tailings pond according to the three-dimensional model, so as to extract the position coordinate set of the reservoir water surface line in the three-dimensional space, and generate a corresponding reservoir water surface line elevation data set; An analysis and processing module, for analyzing and processing the sections where the water surface lines of each reservoir area are located based on the position coordinate set and the reservoir area water surface line elevation data set, so as to obtain safety data and dry beach length data corresponding to each section; The safety monitoring module is used to perform safety monitoring on the target tailings pond according to the safety data and dry beach length data corresponding to each section.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

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

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