Geological disaster emergency rescue drill three-dimensional scene construction method and equipment

Abstract

The invention relates to the field of emergency rescue, in particular to a geological disaster emergency rescue drill three-dimensional scene construction method and equipment. According to the method, high-precision live-action three-dimensional data is established through the unmanned aerial vehicle, a mountain landslide body model is established by adopting a BIM technology, a geological disaster drilling scene is established by adopting a mechanical filling site, the engineering amount of engineering drilling is accurately calculated, rescue equipment placement and rescue positions are reasonably planned and designed, smooth engineering drilling is ensured, and the working efficiency is improved. And emergency rescue technology reserve and talent cultivation are promoted. Compared with traditional rescue drilling scene construction, the method has the advantages of being high in three-dimensional terrain precision, vivid in rescue drilling scene design, accurate in earth and stone allocation, high in rescue drilling guidance and the like, and the purposes of rescue scene design digitalization, rescue equipment modularization, command and control informatization and collapse body construction greenness and environmental protection are achieved.

Description

Technical Field

[0001] The present invention relates to the field of emergency rescue, and in particular to a method and device for constructing a three-dimensional scene for geological disaster emergency rescue drills. Background Art

[0002] Affected by factors such as geological environment and climate conditions, natural disasters occur frequently in the southwestern region of China, mainly including landslides, collapses, etc. At the same time, affected by the construction environment, tunnel collapse accidents in the southwestern region are relatively more than those in other regions. The traditional rescue scene construction is formed by plane design + rock and soil accumulation, which has problems such as inaccurate selection of drill scene locations, inaccurate construction of disaster conditions, and waste of land occupation.

[0003] Therefore, there is a need for a method for constructing a three-dimensional scene for geological disaster emergency rescue drills that can build drill scenes suitable for geological disasters such as landslides and debris flows in engineering drills and highly restore the geological disaster conditions. Summary of the Invention

[0004] The purpose of the present invention is to overcome the problems in the prior art such as inaccurate selection of drill scene locations, inaccurate construction of disaster conditions, and waste of land occupation, and to provide a method and device for constructing a three-dimensional scene for geological disaster emergency rescue drills.

[0005] In order to achieve the above-mentioned invention purpose, the present invention provides the following technical solutions: A method for constructing a three-dimensional scene for geological disaster emergency rescue drills, comprising the following steps: S1: Data collection: Collect terrain point cloud data and real-scene three-dimensional models of the drill area through drones; S2: Establish a three-dimensional terrain model: Establish a DEM model according to the terrain point cloud data, fuse the DEM model with the DOM model of the drill area and the real-scene three-dimensional model, and output the three-dimensional terrain model of the drill area; S3: Establish a collapsed body model: Generate a collapsed body model in the three-dimensional terrain model according to the three-dimensional terrain model and preset collapsed body parameters; S4: Establish a rescue equipment model: Select a corresponding preset rescue equipment group according to the current geological disaster type, and establish a BIM model of the rescue equipment group; S5: Plan the rescue facility area: Set the rescue facility area in the three-dimensional terrain model, and load the BIM model of the rescue equipment group, and output the current three-dimensional terrain model as the three-dimensional scene model for geological disaster emergency rescue drills.

[0006] As a preferred solution of the present invention, the S2 includes the following steps: S21: Classify the terrain point cloud data once through a pre-trained AI classification module, and then perform secondary classification on the point cloud data in the unclassified area through an instance segmentation box, and output it as a classified point cloud file; S22: Use the TIN triangulation reconstruction + DEM optimization method to output the classified point cloud file as DEM data; S23: Load the DEM data and the DOM model of the drill area through GIS software, and establish a 3D GIS model by using raster data mapping; S24: Load the real scene 3D model, and fuse the real scene 3D model with the 3D GIS model by using the 3D data space coordinate high benchmark alignment method, and output the 3D terrain model of the drill area.

[0007] As a preferred solution of the present invention, the AI classification module is trained through a labeled data set; among them, the classification of point clouds includes one or more of ground point clouds, railway subgrade point clouds, vegetation point clouds below 2m, vegetation point clouds of 2m and above, tunnel portal wall point clouds, and retaining wall point clouds.

[0008] As a preferred solution of the present invention, the S3 includes the following steps: Obtain the height and surface slope of the collapse body according to the preset collapse body parameters; the collapse body parameters include simulated landslide points; Substitute the height and surface slope of the collapse body into the 3D terrain model to obtain the bottom length of the accumulation body of the collapse body; Generate a collapse body model in the 3D terrain model according to the height, surface slope and bottom length of the accumulation body of the collapse body, and obtain the volume of the collapse body model through the BIM entity of the collapse body model.

[0009] As a preferred solution of the present invention, the bottom length of the accumulation body includes the bottom length of the accumulation body inside the tunnel and the bottom length of the accumulation body outside the tunnel; Among them, the bottom length of the accumulation body inside the tunnel = the height of the collapse body / the surface slope; The bottom length of the accumulation body outside the tunnel = the height of the tunnel entrance / the surface slope.

[0010] As a preferred solution of the present invention, the method further includes S6, including the following steps: S6: Construct a drill scenario: stack the collapse body according to the 3D scene model output by S5; Among them, the earth-taking volume of the collapse body = the volume of the collapse body model.

[0011] As a preferred solution of the present invention, the S6 includes the following steps: S61: Establish protection for the inner walls of the track and tunnel: Lay at least one layer of EVA waterproof board on the inner wall of the tunnel lining and the railway subgrade to establish protection for the inner walls of the track and tunnel. S62: Take soil in the drill area and stack the collapsed body layer by layer from bottom to top according to the three-dimensional scene model output by S5.

[0012] As a preferred solution of the present invention, the method further includes cleaning the collapsed body after the drill, including the following steps: Clean the collapsed body by machinery; When it is about to be cleaned to a preset distance near the EVA waterproof board, switch to manual cleaning; After the collapsed body is completely cleaned, recycle the EVA waterproof board to complete the cleaning work.

[0013] As a preferred solution of the present invention, S5 further includes a BIM coordinate conversion method; By the coordinate flipping method, simultaneously flip the Y coordinate and the Z coordinate of the BIM model to make the coordinate direction of the BIM model parallel to the coordinate direction of the GIS model.

[0014] An electronic device includes at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method described in any one of the above.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The present invention establishes high-precision real-scene three-dimensional data through drones, builds a landslide model using BIM technology, constructs a geological disaster drill scene on-site by mechanical filling, accurately calculates the engineering quantity of the engineering drill, reasonably plans and designs the placement of rescue equipment and rescue positions, ensures the smooth progress of the engineering drill, and promotes the reserve of rescue technology and the cultivation of talents. Compared with the traditional construction of rescue drill scenes, this method has the following advantages: high three-dimensional terrain accuracy, realistic rescue drill scene design, accurate earthwork allocation, strong guidance for rescue drills, etc. It achieves digital rescue scene design, modular rescue equipment, informatization of command and control, and green environmental protection in the construction of the collapsed body. Description of the Drawings

[0016] Figure 1 It is a flow chart of a three-dimensional scene construction method for a geological disaster emergency rescue drill described in Embodiment 1 of the present invention; Figure 2 It is a flow chart of a three-dimensional scene construction method for a geological disaster emergency rescue drill described in Embodiment 3 of the present invention; Figure 3Spatial geometric analysis schematic diagram of landslide point and bottom accumulation point in a three-dimensional scene construction method for geological disaster emergency rescue drill described in Embodiment 3 of the present invention; Figure 4 Schematic diagram of EVA waterproof board laying in a three-dimensional scene construction method for geological disaster emergency rescue drill described in Embodiment 3 of the present invention; Figure 5 Schematic diagram of rescue drill scene design in a three-dimensional scene construction method for geological disaster emergency rescue drill described in Embodiment 3 of the present invention; Figure 6 Schematic diagram of the structure of an electronic device using a three-dimensional scene construction method for geological disaster emergency rescue drill described in the foregoing embodiment in Embodiment 4 of the present invention.

[0017] Description of the drawings: 1 - Track, 2 - Tunnel portal wall, 3 - Splayed wall, 4 - EVA waterproof board, 5 - Collapsed body, 6 - Rescue facility area, 61 - Rescue equipment, 62 - Emergency rescue tent, 63 - Miniature rescue shield machine. Detailed implementation manners

[0018] The present invention will be further described in detail below in conjunction with test examples and specific implementation manners. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. All technologies implemented based on the content of the present invention belong to the scope of the present invention.

[0019] Embodiment 1 As Figure 1 shown, a three-dimensional scene construction method for geological disaster emergency rescue drill includes the following steps: S1: Data collection: Collect topographic point cloud data and real-scene three-dimensional model of the drill area through an unmanned aerial vehicle.

[0020] S2: Establish a three-dimensional terrain model: Establish a DEM model according to the topographic point cloud data, and fuse the DEM model with the DOM model and the real-scene three-dimensional model of the drill area, and output the three-dimensional terrain model of the drill area.

[0021] S3: Establish a collapsed body model: Generate a collapsed body model in the three-dimensional terrain model according to the three-dimensional terrain model and preset collapsed body parameters.

[0022] S4: Establish a rescue equipment model: Select a corresponding preset rescue equipment group according to the current geological disaster type, and establish a BIM model of the rescue equipment group.

[0023] S5: Plan the rescue facility area: Set the rescue facility area in the three-dimensional terrain model, and load the BIM model of the rescue equipment group, and output the current three-dimensional terrain model as the three-dimensional scene model for geological disaster emergency rescue drill.

[0024] Example 2 This example is a specific implementation of the three-dimensional scene construction method for geological disaster emergency rescue drills described in Example 1, and includes the following steps: S1: Data collection: Collect the topographic point cloud data and real-scene three-dimensional model of the drill area through an unmanned aerial vehicle.

[0025] S2: Establish a three-dimensional terrain model: Establish a DEM model based on the topographic point cloud data, fuse the DEM model with the DOM model of the drill area and the real-scene three-dimensional model, and output the three-dimensional terrain model of the drill area.

[0026] S21: Classify the topographic point cloud data once through a pre-trained AI classification module, and then classify the point cloud data in the unclassified area twice through an instance segmentation box, and output it as a classified point cloud file; The AI classification module is trained with a labeled data set; among them, the classification of the point cloud includes one or more of ground point cloud, railway subgrade point cloud, vegetation point cloud below 2m, vegetation point cloud of 2m and above, tunnel portal wall point cloud, and retaining wall point cloud.

[0027] S22: Adopt the TIN triangulation network reconstruction + DEM optimization method to output the classified point cloud file as DEM data; S23: Load the DEM data and the DOM model of the drill area through GIS software, and establish a three-dimensional GIS model by using raster data mapping; S24: Load the real-scene three-dimensional model, and fuse the real-scene three-dimensional model with the three-dimensional GIS model through the three-dimensional data space coordinate high benchmark alignment method, and output the three-dimensional terrain model of the drill area.

[0028] S3: Establish a landslide body model: Generate a landslide body model in the three-dimensional terrain model according to the three-dimensional terrain model and the preset landslide body parameters.

[0029] S31: Obtain the height and surface slope of the landslide body according to the preset landslide body parameters; the landslide body parameters include simulated landslide points; S32: Substitute the height and surface slope of the landslide body into the three-dimensional terrain model to obtain the bottom length of the accumulation body of the landslide body; The bottom length of the accumulation body includes the bottom length of the accumulation body inside the tunnel and the bottom length of the accumulation body outside the tunnel; Among them, the bottom length of the accumulation body inside the tunnel = the height of the landslide body / the surface slope; The bottom length of the accumulation body outside the tunnel = the height of the tunnel entrance / the surface slope.

[0030] S33: Generate a landslide model in the 3D terrain model according to the height, surface slope, and bottom length of the landslide, and obtain the volume of the landslide model through the BIM entity of the landslide model.

[0031] S4: Establish a rescue equipment model: Select the corresponding preset rescue equipment group according to the current type of geological disaster, and establish a BIM model of the rescue equipment group.

[0032] S5: Plan the rescue facility area: Set the rescue facility area in the 3D terrain model, load the BIM model of the rescue equipment group, and output the current 3D terrain model as the 3D scene model for geological disaster emergency rescue drills.

[0033] Furthermore, it also includes a BIM coordinate conversion method; By using the coordinate flipping method, simultaneously flip the Y coordinate and Z coordinate of the BIM model to make the coordinate direction of the BIM model parallel to the coordinate direction of the GIS model.

[0034] Furthermore, the method also includes S6, which includes the following steps: S6: Construct a drill scenario: Pile up the landslide according to the 3D scene model output by S5; Among them, the soil volume taken for the landslide = the volume of the landslide model.

[0035] S61: Establish protection for the track and the inner wall of the tunnel: Lay at least one layer of EVA waterproof board on the inner wall of the tunnel lining and the railway subgrade to establish protection for the track and the inner wall of the tunnel; S62: Take soil in the drill area, and pile up the landslide from bottom to top according to the 3D scene model output by S5.

[0036] In this embodiment, the use of EVA waterproof board can effectively avoid the damage of the landslide to the tunnel portal, lining, track, and subgrade structure, thereby ensuring the operation safety of the railway during the simulation drill; at the same time, it can also further improve the efficiency of cleaning up the muck at the end.

[0037] Furthermore, the method also includes cleaning up the landslide after the drill, which includes the following steps: Clean up the landslide by machinery; When it is cleaned to a preset distance near the EVA waterproof board, switch to manual cleaning; After the landslide is completely cleaned up, recycle the EVA waterproof board to complete the cleaning work.

[0038] Embodiment 3 This embodiment is a specific application example of the three-dimensional scene construction method for geological disaster emergency rescue drills described in Embodiment 2. Taking the emergency rescue drill for debris flow at the entrance of an operating railway tunnel as an example, the three-dimensional scene construction is carried out as follows: Figure 2 as shown, it includes the following steps: (1) UAV data collection This geological disaster drill for the operating railway is located in Suifenhe City, Heilongjiang Province, in a mountainous area with dense vegetation. In order to accurately obtain the real terrain of the drill area, first, a DJI M350 UAV equipped with a lidar (LiDAR) was used to scan the terrain. The UAV data collection was controlled manually. The flight altitude was 50m - 60m. The point cloud data collection mode was true color, the point cloud density was the highest level, the echo times were 3 times, and the positioning used the Beidou RTK mode. After the point cloud data collection was completed, the lidar module of DJI Terra software was used to splice and process the point cloud data to obtain dense point cloud data in the original terrain environment, and the point cloud format was LSA.

[0039] In order to establish a refined three-dimensional real-scene model of existing railway subgrades, track 1, tunnel portal wall 2, and splayed walls 3 at retaining walls, etc., a DJI Matrice M4T UAV + optical imaging lens was used. The UAV data collection was controlled manually. The aircraft altitude was 50m - 60m. The pixel of the image was selected as 40 million. The positioning used the Beidou RTK mode. The angle between the lens and the ground normal was 15°. During data collection, the interval shooting time was 3s, which could ensure that the image reattachment rate in the flight direction of the UAV reached more than 70%, and the image reattachment rate reached more than 75%, that is, the cross-track reattachment rate = (the coverage width of a single aerial photo - the flight altitude of the UAV) / the coverage width of a single aerial photo > 75%. According to the relevant parameters of the M4T UAV lens, when the flight altitude of the UAV was 50m - 60m, the spacing between two flight courses should be less than 45m. In this drill, the UAV course distance was 40m, which could improve the quality of the three-dimensional model reconstruction of the above-mentioned railway structures. After the aerial photo collection was completed, the optical image processing module of DJI Terra was used to establish a highly refined real-scene three-dimensional model in the OBJ format and a high-resolution digital orthophoto map (DOM) in the tiff format through aerial triangulation processing.

[0040] (2) Establish a three-dimensional terrain model To highly restore the terrain of the emergency rescue drill scene, it was obtained by fusing DEM + DOM + real-scene three-dimensional. Among them, DOM was... For the expression of railway structures, a real-scene three-dimensional model was used. Since there were other redundant data such as vegetation and weeds in this model, the entity segmentation processing method was used to establish a highly refined real-scene three-dimensional model of railway structures.

[0041] For the establishment of the DEM model, it is processed through AI training and classification of LiDAR point clouds. First, point cloud training samples are established. Through point cloud semantic segmentation, AI training sample files such as ground point cloud library, railway subgrade point cloud, vegetation library below 2m, vegetation library above 2m, tunnel portal wall point cloud, retaining wall point cloud, etc. are established respectively. Then, these samples are merged into an.onnx format file, and the json language environment is selected to establish point cloud AI classification training samples. Then, the AI classification module is selected to load the trained AI samples to classify the LiDAR point clouds. For the areas where the ground point classification is inaccurate, the point cloud data of this area is selected by instance segmentation for secondary classification. If it is still inaccurate, the AI training samples are optimized until the ground point cloud data in each area has been accurately classified. Finally, the classified ground points are saved separately in a new point cloud file, and the TIN triangulation network reconstruction + DEM optimization method is used to establish DEM data with a display resolution of 1m.

[0042] In the GIS software, the DEM data and DOM images are loaded separately through the database, and a three-dimensional GIS model is established through raster data mapping. In the 3D-model mode, the real-scene three-dimensional model of the decorated railway portal structure is loaded, and through the three-dimensional data spatial coordinate high benchmark alignment method, the integration of the real-scene model and the GIS model is realized, and a three-dimensional real terrain for emergency rescue disaster drills is established, and the terrain reduction accuracy reaches more than 98%.

[0043] (3)Establish the collapse body model The geological disaster condition of this patent is to simulate a landslide on the left side of the tunnel entrance, resulting in the burial of the tunnel entrance and part of the tunnel body, as Figure 3 shown. Based on the spatial analysis of the real-scene model, the height difference H = 15.02m, the horizontal distance L = 15.33m, the hypotenuse length M = 21.46, and the slope α = 44.4° between the simulated landslide point and the tunnel portal's splayed wall can be calculated. From this, the slope ratio P of the simulated collapse body surface can be deduced as P = H / L = 15.02 / 15.33 = 0.98:1. In engineering project construction, the height of most temporary buildings and the slope of the main line project are 1:1. Therefore, the slope of the landslide body surface in this project drill is taken as an integer value of 1:1.

[0044] Using the BIM physical model, according to the terrain trend of the proposed collapse area, first establish a collapse edge line N of any length, and then convert the edge line into a BIM physical model. Since the physical model and the three-dimensional terrain model can directly perform Boolean operations, set the slope parameter of the BIM model to 1:1, and the slope length is greater than the above hypotenuse length M. Considering the accumulation phenomenon at the bottom of the collapsed body and the need to restore the railway to its original state after the engineering drill, the workload of the simulated collapsed body cannot be too large. From the real-scene model, the length of the splayed wall at the tunnel entrance A1 = 7.2m, and the height of the tunnel entrance A2 = 6.4m. According to the on-site drill headquarters, the length of the rescue and escape passage A3 = 20m. By optimizing the design of the collapse model, when the length of the top edge of the collapsed body is finally 7.5m, the formed collapsed body can completely cover the tunnel entrance, the bottom length of the accumulation inside the tunnel is 10m, and the bottom length of the accumulation outside the tunnel is 14m.

[0045] Through BIM physical analysis, the volume of the collapsed body can be calculated as 565m³. On the right side of the tunnel entrance, there is an idle land with an area of 952㎡. To solve the problem of the accumulation and filling of the collapsed body, soil can be directly taken from this area, and the average depth of soil taking is 0.6m. Compared with the original planned soil-taking location, using the method of real-scene model + BIM collapse design, the problem of earthwork allocation of the collapsed body is solved, the soil-taking distance is shortened, and problems such as difficult railway track transportation of muck and low efficiency are avoided. The accumulation time of the collapsed body is shortened by 60%.

[0046] (4)Establish a rescue equipment model According to the requirements of the railway collapse emergency rescue drill plan, the equipment required for the tunnel entrance collapse rescue drill includes a split rescue drill, a hydraulic station supporting the split rescue drill, a generator set supporting the split rescue drill, a small shield rescue equipment, a wheeled crane, an excavator, etc. According to the geometric dimensions of the relevant equipment, use the BIM component library new construction method to establish a 1:1 BIM model of the above rescue equipment, and save the equipment model as the OBJ format respectively. In order to consider the stacking of small materials (water, food, charging box), rest, etc. during the on-site rescue drill, a 5m * 6m multifunctional tent is designed, and the model is also saved as the OBJ format.

[0047] (5)Plan the rescue facility area On the established 3D terrain model of the collapsed body, in the 3D-model mode, the above-mentioned rescue equipment models were respectively loaded. Since the Z direction of the coordinates of the BIM model corresponds to the Y direction of the coordinates of the GIS model, the ground of the loaded BIM model is vertical. Therefore, the coordinate flipping method was adopted to simultaneously flip the Y coordinate and Z coordinate of the BIM model to make the coordinate Z direction of the model parallel to that of the GIS model. Then, through the BIM entity assembly method, the above-mentioned equipment models were successively placed on the proposed parking area, with a placement distance of 2 m between each rescue equipment. The tent was placed on the side close to the tunnel entrance, with a distance of 4 m from the equipment.

[0048] (6)Construct the drill scenario Firstly, for the protection of the track and the inner wall of the tunnel, to consider the rapid restoration of the railway after the drill and avoid damage to the railway track, the roadbed body, and the inner lining of the track by the collapsed body 5. As Figure 4 shown, a layer of EVA waterproof board 4 was laid on the inner wall of the tunnel lining and the railway subgrade. Among them, the laying length inside the tunnel was 15 m, and the laying length on the subgrade outside the tunnel was 30 m. The lap length between the transverse and longitudinal drainage boards was 15 cm - 20 cm, to prevent the muck from directly contacting the railway structures and achieve the purpose of protecting the railway structures.

[0049] Secondly, for the accumulation of the collapsed body 5, an excavator and a loader were used in cooperation to directly take soil (silty sand) from the idle area on the right side of the tunnel entrance for accumulation. The collapsed body 5 was accumulated from bottom to top, and the height and slope of the accumulated body should be consistent with the parameters of the above-designed collapse model.

[0050] Finally, for setting up the drill subject signboard, according to the requirements of the drill headquarters, on the retaining wall on the left side of the tunnel entrance, a subject drill slogan display rack with a height of 2 m and a length of 30 m was fabricated on-site using angle steel. The slogan was "Collapsed Railway Tunnel Emergency Rescue and Reopening Drill". After construction, the drill scenario was as Figure 5 shown, where the rescue facility area 6 includes rescue equipment 61 and the emergency rescue tent 62.

[0051] (7)Rescue actual combat drill Firstly, for the activation of the drill plan, according to the requirements of the Emergency Mission Drill Headquarters, the impact of geological disasters was simulated, resulting in the burial of both ends of the railway tunnel entrance, the collapse pouring into the tunnel, causing 5 railway maintenance workers to be trapped inside the tunnel, with the casualty situation unknown and in urgent need of rescue. After receiving the order, the rescue team rushed to the scene immediately and set up a warning line 500 m outside the tunnel entrance and exit.

[0052] Secondly, it is the detection of the rescue environment, life detection, geological detection, and the setting up of a seismic alarm system. The rescue team, together with the expert technical team, conducts a safety assessment of the collapsed slope, and uses equipment such as drones and 3D laser scanners for monitoring and measurement to quickly establish a real - scene 3D model of the disaster accident site.

[0053] Further, the life connection channels are opened up. The rescue team uses a multi - functional rapid drill rig to carry out drilling operations. Five trapped persons are found. After the drill rig penetrates the collapsed body 5, the rescue personnel use a multi - functional life detector to lock the location of the trapped persons. Immediately afterwards, lighting, communication, food, and medicine are transported inward, and the ventilation duct continuously sends air into the tunnel space to ensure the life and health of the trapped persons.

[0054] Further, the rescue and escape channels are opened up. The tunneling method of a miniaturized rescue shield machine 63 with a diameter of 1m is adopted to quickly penetrate through the collapsed body 5 and establish a rescue and escape channel with a diameter of 1m.

[0055] Further, 2 rescue personnel are immediately organized to enter the rescue channel with portable stretcher protective gear and rescue 5 trapped persons in turn. The medical rescue personnel quickly take treatment measures such as hemostasis and bandaging to check the health status of the trapped persons.

[0056] (8) Cleaning the collapsed body After the rescue drill is over, according to the requirements of the rescue headquarters, an excavator + loader is used to quickly clean the collapsed body 5 in the tunnel and on the roadbed. When cleaning the collapsed body 5 near the inner wall of the tunnel lining, the portal wall, the retaining wall, etc., manual slow cleaning is required to avoid damage to the railway structures by machinery. After all the collapsed body 5 is cleaned up, the EVA waterproof board in the railway roadbed and the tunnel is rolled up and cleaned. Thus, the tunnel collapse rescue drill subjects are successfully completed.

[0057] Embodiment 4 As Figure 6 shown, an electronic device includes at least one processor, a memory communicatively connected to the at least one processor, and at least one input / output interface communicatively connected to the at least one processor; 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 a method for constructing a three - dimensional scene of a geological disaster emergency rescue drill as described in the foregoing embodiments. The input / output interface may include a display, a keyboard, a mouse, and a USB interface for inputting and outputting data.

[0058] Furthermore, the electronic device may be a desktop computer, a mobile phone, a tablet computer, a wearable electronic device, etc., which are electronic devices capable of performing depth information recognition.

[0059] Further, the processor may include one or more processing cores. The processor connects various parts within the entire electronic device through various interfaces and circuits, and executes various functions of the electronic device and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory, and by invoking the data stored in the memory. Optionally, the processor may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor may integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor and may be implemented separately by a communication chip.

[0060] The memory may include random access memory (RAM) and may also include read-only memory (ROM). The memory can be used to store instructions, programs, codes, code sets, or instruction sets, such as the instructions or code sets for implementing a three-dimensional scene construction method for geological disaster emergency rescue drills provided in the embodiments of the present application. The memory may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function, instructions for implementing the above various method embodiments, etc. The data storage area may also store data created during the use of the electronic device (such as a mapping table of modulation sequence and depth, image data, spectrogram data), etc.

[0061] Those skilled in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: various media that can store program codes, such as removable storage devices, read-only memory (ROM), magnetic disks, or optical discs.

[0062] When the above integrated units of the present invention are implemented in the form of software functional units and sold or used as independent products, they can also be stored in a computer-readable storage medium. The computer-readable storage medium stores program code, and the program code can be called by a processor to execute the methods described in the above method embodiments. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: flash memory, EEPROM (electrically erasable programmable read-only memory), EPROM, a hard disk, or an electronic memory such as ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has a storage space for the program code for executing any method step in the above methods. These program codes can be read out from one or more computer program products or written into one or more computer program products. And the program codes can be compressed in an appropriate form, for example.

[0063] The foregoing are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A three-dimensional scene construction method for geological disaster emergency rescue drills, characterized in that, It includes the following steps: S1: Data collection: Collect the terrain point cloud data and real scene 3D model of the drill area through a drone; S2: Establish a 3D terrain model: Establish a DEM model based on the terrain point cloud data, fuse the DEM model with the DOM model of the drill area and the real scene 3D model, and output the 3D terrain model of the drill area; S3: Establish a landslide body model: Generate a landslide body model in the 3D terrain model according to the 3D terrain model and preset landslide body parameters; S4: Establish a rescue equipment model: Select the corresponding preset rescue equipment group according to the current geological disaster type, and establish a BIM model of the rescue equipment group; S5: Plan the rescue facility area: Set the rescue facility area in the 3D terrain model, load the BIM model of the rescue equipment group, and output the current 3D terrain model as the 3D scene model for geological disaster emergency rescue drills.

2. The three-dimensional scene construction method for geological disaster emergency rescue drills according to claim 1, wherein, The S2 includes the following steps: S21: Classify the terrain point cloud data once through a pre-trained AI classification module, and then classify the point cloud data in the unclassified area through an instance segmentation box, and output it as a classified point cloud file; S22: Adopt the TIN triangulation network reconstruction + DEM optimization method to output the classified point cloud file as DEM data; S23: Load the DEM data and the DOM model of the drill area through GIS software, and establish a 3D GIS model by using raster data mapping; S24: Load the real scene 3D model, and fuse the real scene 3D model with the 3D GIS model through the 3D data spatial coordinate high benchmark alignment method, and output the 3D terrain model of the drill area.

3. A method for constructing a three-dimensional scene of a geological disaster emergency rescue drill according to claim 2, characterized in that, The AI classification module is trained through a labeled data set; among them, the classification of point clouds includes one or more of ground point clouds, railway subgrade point clouds, vegetation point clouds below 2m, vegetation point clouds of 2m and above, tunnel portal wall point clouds, and retaining wall point clouds.

4. A method for constructing a three-dimensional scene of geological disaster emergency rescue drill according to claim 1, characterized in that, The S3 includes the following steps: Obtain the height and surface slope of the landslide body according to the preset landslide body parameters; the landslide body parameters include simulated landslide points; Substitute the height and surface slope of the landslide body into the 3D terrain model to obtain the bottom length of the accumulation body of the landslide body; Generate a landslide body model in the 3D terrain model according to the height, surface slope and bottom length of the accumulation body of the landslide body, and obtain the volume of the landslide body model through the BIM entity of the landslide body model.

5. A method for constructing a three-dimensional scene for geological disaster emergency rescue drills according to claim 4, characterized in that, The bottom length of the accumulation body includes the bottom length of the accumulation body inside the tunnel and the bottom length of the accumulation body outside the tunnel; Among them, the bottom length of the accumulation body inside the tunnel = the height of the landslide body / the surface slope; The bottom length of the accumulation body outside the tunnel = the height of the tunnel entrance / the surface slope.

6. A method for constructing a three-dimensional scene for geological disaster emergency rescue drills according to claim 4, characterized in that, The method further includes S6, including the following steps: S6: Construct a drill scene: Stack the landslide body according to the 3D scene model output by S5; Among them, the earth-taking volume of the landslide body = the volume of the landslide body model.

7. A method for constructing a three-dimensional scene for geological disaster emergency rescue drills according to claim 6, characterized in that, The S6 includes the following steps: S61: Establish protection for the inner walls of tracks and tunnels: Lay at least one layer of EVA waterproof board on the inner wall of the tunnel lining and the railway subgrade to establish protection for the inner walls of tracks and tunnels; S62: Excavate soil in the drill area, and stack the collapsed body layer by layer from bottom to top according to the three-dimensional scene model output by S5.

8. A method for constructing a three-dimensional scene for geological disaster emergency rescue drills according to claim 7, characterized in that, The method further includes cleaning the collapsed body after the drill, including the following steps: Clean the collapsed body by machinery; When the cleaning reaches a preset distance near the EVA waterproof board, switch to manual cleaning; After the collapsed body is completely cleaned, recover the EVA waterproof board to complete the cleaning work.

9. A three-dimensional scene construction method for geological disaster emergency rescue drills according to claim 1, characterized in that, The S5 further includes a BIM coordinate conversion method; Through the coordinate flipping method, simultaneously flip the Y coordinate and the Z coordinate of the BIM model to make the coordinate direction of the BIM model parallel to the coordinate direction of the GIS model.

10. An electronic device, characterized in that, It includes at least one processor and a memory communicatively connected to the at least one processor; 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 method according to any one of claims 1 to 9.

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