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

Abstract

The application relates to a tailing pond safety monitoring method and device, electronic equipment and storage medium, the method comprising: obtaining surveying and mapping data information of a target tailing pond collected by a UAV; performing reconstruction processing on the surveying and mapping data information to obtain modeling data of the target tailing pond; constructing a three-dimensional model of the target tailing pond according to the modeling data; performing segmentation processing on the reservoir area water surface line of the target tailing pond according to the three-dimensional model to extract a position coordinate set of the reservoir area water surface line in a three-dimensional space, and generating 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 profile where each reservoir area water surface line is located to obtain safety data and dry beach length data corresponding to each profile; and performing safety monitoring on the target tailing pond according to the safety data and dry beach length data corresponding to each profile, 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 tailings pond safety monitoring method, device, electronic equipment and storage medium. Background Art

[0002] With the continued development of my country's mining industry, tailings ponds, as crucial supporting facilities for mining operations, are numerous and widespread. However, many tailings ponds have entered the later stages of operation, facing severe challenges such as reduced storage capacity, weakened flood control capabilities, and reduced resilience to natural disasters. These risks are becoming increasingly prominent. Therefore, strengthening the safety monitoring of tailings ponds and ensuring their stable operation has become an urgent need to safeguard mining safety, the environment, and the lives and property of the people. 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 is based on real-time monitoring of the tailings pond by a drone, 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 object 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 objectives, an embodiment of the first aspect 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 profiles of each reservoir water surface line to obtain safety data and dry beach length data corresponding to each profile; and performing safety monitoring on the target tailings pond based on the safety data and dry beach length data corresponding to each profile.

[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 drone is first obtained, and the surveying and mapping data information is reconstructed to obtain the modeling data of the target tailings pond, and a three-dimensional model of the target tailings pond is constructed based on the modeling data. Then, according to the three-dimensional model, the water surface line of the reservoir area 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 a corresponding water surface line elevation data set of the reservoir area is generated. Based on the position coordinate set and the water surface line elevation data set of the reservoir area, the cross-section where the water surface line of each reservoir area is located is analyzed and processed to obtain the safety data and dry beach length data corresponding to each cross-section. Finally, according to the safety data and dry beach length data corresponding to each cross-section, the target tailings pond is safety monitored. Thus, the method performs real-time monitoring of the tailings pond based on the drone, thereby improving the reliability, accuracy and reliability of safety monitoring.

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

[0012] According to one embodiment of the present invention, 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 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; wherein the surveying and mapping 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 one 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 segmentation process of 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 includes:

[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 in the three-dimensional space and generate the corresponding water surface line elevation data set.

[0022] According to one embodiment of the present invention, the analyzing and processing of the sections where the water surface lines of each reservoir area are located based on the position coordinate set and the reservoir water surface elevation data set to obtain the safety data and dry beach length data corresponding to each section includes:

[0023] Based on the position coordinate set, the reservoir water surface line 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 a perpendicular line 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 through n perpendicular foot points;

[0026] For each constructed cross 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 cross section length;

[0027] Determining a safe superelevation value for each section based on the reservoir area water surface elevation data set;

[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 based on the safety data and dry beach length data corresponding to each profile 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 example, 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 embodiment 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 based on 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 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 profiles of each reservoir water surface line 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 profile; and a safety monitoring module for performing safety monitoring on the target tailings pond based on the safety data and dry beach length data corresponding to each profile.

[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 a three-dimensional model of the target tailings pond according to the modeling data, the segmentation processing module segments the water surface line of the target tailings pond according to the three-dimensional model to extract the position coordinate set of the water surface line in the three-dimensional space, and generates the corresponding water surface line elevation data set of the reservoir area, the analysis processing module analyzes and processes the cross-section where the water surface line of each reservoir area is located based on the position coordinate set and the water surface line elevation data set of the reservoir area to obtain the safety data and dry beach length data corresponding to each cross-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 cross-section. Thus, the device performs real-time monitoring of the tailings pond based on the drone, thereby improving the reliability, accuracy and reliability of safety monitoring.

[0038] In addition, the safety monitoring device for the tailings pond proposed 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 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; wherein the surveying and mapping 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 one 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 in the three-dimensional space and generate the corresponding water surface line elevation data set.

[0049] According to one embodiment of the present invention, the analyzing and processing of the sections where the water surface lines of each reservoir area are located based on the position coordinate set and the reservoir water surface elevation data set to obtain the safety data and dry beach length data corresponding to each section includes:

[0050] Based on the position coordinate set, the reservoir water surface line 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 a perpendicular line 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 through n perpendicular foot points;

[0053] For each constructed cross 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 cross section length;

[0054] Determining a safe superelevation value for each section based on the reservoir area water surface elevation data set;

[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 based on the safety data and dry beach length data corresponding to each profile, 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 example, select the minimum value h of the safety datamin 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-mentioned object, a third embodiment of the present invention further provides an electronic device, comprising:

[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 to enable the at least one processor to 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-mentioned purpose, the fourth embodiment 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-mentioned 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 embodiment of the present invention further proposes a computer program product, which performs the above-mentioned method when the 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 set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may 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 one 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, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain 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 tailings pond safety monitoring method, device, electronic device and storage medium according to embodiments 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 top are: "1-3 monitoring points should be arranged at the lower position every 100m, and the total number of monitoring points should not be less than 3."

[0081] However, for tailings dams with long dam axes and long tailings ponds, more monitoring sections and monitoring points need to be arranged, and traditional online monitoring and early warning systems cannot fully meet the requirements of relevant regulations. Moreover, the accumulation process of tailings ponds is a dynamic process, and the layout 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 on the waterline" in real time as required by relevant regulations. In addition, because the top of the tailings pond is not at the same elevation, the horizontal distance of the water surface line from the top of the beach will vary with the position of the waterline and the dam axis; this will make the dry beach length and safety super-high data obtained by the traditional online monitoring system less accurate, making the existing tailings pond online monitoring and early warning system unable 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 tailings pond safety monitoring method 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 can 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 for a tailings pond according to an embodiment of the present invention includes:

[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, the system can include pre-setting monitoring time and drone flight routes, generating monitoring tasks based on the monitoring time and flight routes, and sending the monitoring tasks to the drone. The drone can then map the target tailings pond based on the monitoring time and flight routes, obtaining mapping data for the target tailings pond. Furthermore, the system can receive mapping data feedback from the drone.

[0090] S2, reconstructing and processing the surveying and mapping data information to obtain 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 acquired surveying and mapping data can be converted into a unified format or standard to facilitate subsequent processing. For example, filtering algorithms (such as Gaussian filtering and median filtering) can be used to filter the surveying and mapping data to remove noise introduced by measurement errors and environmental factors, thereby improving data quality. Furthermore, outliers that significantly deviate from the overall surveying and mapping data trend can be identified and removed to ensure the accuracy of subsequent modeling. Furthermore, the filtered surveying and mapping data can be smoothed to further reduce minor fluctuations in the data and make it 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 technologies to accurately align the point cloud data obtained from different perspectives or different time periods on 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 algorithms such as Poisson reconstruction and moving least squares method to generate a three-dimensional surface model of the target tailings pond.

[0094] The digital orthophoto data generation process 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 a digital elevation model (DEM) or ground control points to eliminate geometric distortion caused by shooting angles and terrain undulations, and generating digital orthophoto data (DOM).

[0095] The digital modeling elevation data generation process includes generating an elevation model (DEM) of the tailings pond area based on the elevation information in the point cloud data using spatial interpolation methods such as the inverse distance weighted method (IDW) and kriging interpolation. The digital modeling elevation data generation process can also include automatically or semi-automatically extracting contour lines from the DEM as a supplementary representation of the tailings pond's topographical characteristics.

[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 suitable 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 digital surface model are used as input data and imported into a pre-trained semantic segmentation neural network. The semantic segmentation neural network can automatically identify and distinguish different types of land features 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. Each extracted water surface line position coordinate is then matched with the elevation data of the corresponding position in the DEM, and accurate elevation values ​​are assigned to these coordinates. In this way, every 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 cross-sections of the reservoir water surface lines are analyzed and processed to obtain the safety data and dry beach length data corresponding to each cross-section.

[0103] When executing step S5, based on the position coordinate set, the reservoir water surface line 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 reservoir water surface line are constructed, such as Figure 2 As shown in the figure; 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; 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 dry beach length 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~h2 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 example, 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 safety over-height value insufficient warning is issued, and the corresponding safety measures are prompted to take appropriate safety measures, such as reducing emissions or strengthening the dam body.

[0111] If only L min ≤L T , a warning of insufficient dry beach length is issued, and a recommendation is made to increase the dry beach length, which 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 excessive safety height 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 values, and generate a report for management personnel to refer to. At the same time, the system should support sending emergency notifications to relevant personnel via 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 according to 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 a three-dimensional model of the target tailings pond is constructed based on the modeling data. Then, according to the three-dimensional model, the water surface line of the reservoir area 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 a corresponding water surface line elevation data set of the reservoir area is generated. Based on the position coordinate set and the water surface line elevation data set of the reservoir area, 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. Finally, according to the safety data and dry beach length data corresponding to each profile, the target tailings pond is safety monitored. 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 tailings pond safety monitoring device 100 according to an 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 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 profiles of each reservoir water surface line 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 profile. The safety monitoring module 160 is used to perform safety monitoring of the target tailings pond based on the safety data and dry beach length data corresponding to each profile.

[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] Controlling 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 the drone.

[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 one 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 water surface line of the target tailings pond based on the three-dimensional model 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, 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 reservoir water surface line in three-dimensional space and generate the corresponding reservoir water surface line elevation data set.

[0129] According to one embodiment of the present invention, based on a set of position coordinates and a set of reservoir water surface elevation data, each section of the reservoir water surface line is analyzed and processed to obtain safety data and dry beach length data corresponding to each section, including:

[0130] Based on the position coordinate set, the reservoir water surface line 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 3D model, draw a perpendicular line to the top line of the target tailings pond to obtain n perpendicular foot points;

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

[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 area 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 one embodiment of the present invention, the safety monitoring module 160 is configured to perform safety monitoring on a target tailings pond based on 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 example, 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 a three-dimensional model of the target tailings pond based on the modeling data, the segmentation processing module segments the water surface line of the target tailings pond according to the three-dimensional model to extract the position coordinate set of the water surface line in the three-dimensional space, and generates a corresponding water surface line elevation data set of the reservoir area, the analysis processing module analyzes and processes the cross-section where the water surface line of each reservoir area is located based on the position coordinate set and the water surface line elevation data set of the reservoir area to obtain the safety data and dry beach length data corresponding to each cross-section, and the safety monitoring module performs safety monitoring on the target tailings pond based on the safety data and dry beach length data corresponding to each cross-section. Thus, the device performs real-time monitoring of the tailings pond based on the drone, thereby improving 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 includes: 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 perform the above-mentioned 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 further 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 reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0155] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise 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 be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0157] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, 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 it in another suitable manner if necessary, and then storing it in a computer memory.

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

[0159] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0160] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they 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 is understood that the above embodiments are exemplary and are not to be construed as limiting the present invention. Persons skilled in the art may make changes, modifications, substitutions, and variations to 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 based on the modeling data; wherein the three-dimensional model includes: a digital oblique image model and a digital surface model; 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 in the three-dimensional space and generate a corresponding set of elevation data of the water surface line in the reservoir area; Based on the position coordinate set and the reservoir water surface line elevation data set, analyzing and processing the cross-sections where the water surface lines of each reservoir area are located to obtain safety data and dry beach length data corresponding to each cross-section; Safety monitoring of the target tailings pond is carried out based on the safety data and dry beach length data corresponding to each profile. 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 reservoir water surface line 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 a perpendicular line 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 through n perpendicular foot points; For each constructed cross 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 cross section length; Determining a safe superelevation value for each section based on the reservoir area water surface elevation data set; According to the section length and safety superelevation value of each section, calculate the dry beach length of the corresponding 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 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; wherein the surveying and mapping 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, wherein 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 in the three-dimensional space and generating a corresponding set of elevation data of the water surface line in 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 in the three-dimensional space and generate the corresponding water surface line elevation data set.

5. The method according to claim 1, wherein 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 example, 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.

6. A safety monitoring device for a tailings pond, characterized in that: include: The 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, configured to reconstruct the surveying and mapping data information to obtain modeling data of the target tailings pond; A construction module, configured to construct a three-dimensional model of the target tailings pond according to the modeling data; wherein the three-dimensional model includes: a digital oblique image model and a digital surface model; a segmentation processing module, configured to segment the water surface line of the target tailings pond according to the three-dimensional model, so as to extract a set of position coordinates of the water surface line of the reservoir area in three-dimensional space, and generate a corresponding set of elevation data of the water surface line of the reservoir area; an analysis and processing module for analyzing and processing the sections of the water surface lines of each reservoir area based on the position coordinate set and the reservoir water surface line elevation data set, so as to obtain safety data and dry beach length data corresponding to each section; A safety monitoring module is used to perform safety monitoring on the target tailings pond based on the safety data and dry beach length data corresponding to each profile; The analysis and processing module is used to analyze and process the sections of the water surface lines of each reservoir area 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, including: Based on the position coordinate set, the reservoir water surface line 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 a perpendicular line 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 through n perpendicular foot points; For each constructed cross 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 cross section length; Determining a safe superelevation value for each section based on the reservoir area water surface elevation data set; According to the section length and safety superelevation value of each section, calculate the dry beach length of the corresponding section.

7. 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 5.

8. 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 5 is implemented.

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