CN109269555A - System and method is monitored based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology - Google Patents
System and method is monitored based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology Download PDFInfo
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Abstract
System and method is monitored based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology, image collecting module is used to acquire the geography information of Tailings Dam to be detected；Data compressing module is used for configured with the encoder for supporting onvif agreement, data compressing module to the Tailings Dam vision signal to be detected of acquisition, audio signal, data-signal compressed encoding；Wireless transport module is configured with 2.4GHz and 5.8GHz band antenna, and wireless transport module monitors unmanned unit for the unmanned unit of geographical information collection and Daily Round Check and carries out wireless data transmission；Cluster computing module is used to carry out cluster operation image procossing to the Tailings Dam image geographic information data to be detected of acquisition；Three-dimensional modeling module is used to carry out aerial triangulation resolving and reconstruction to the Tailings Dam geographic information data to be detected of acquisition.The present invention realizes " the no dead angle " of the defeated end pipe in scene, tailing dam, water level line, saturation, Tailings Dam surrounding enviroment etc., " round-the-clock " monitoring.
Description
Technical field
The present invention relates to safety monitoring technology fields, and in particular to a kind of tailing based on unmanned plane and dimensional Modeling Technology
Library safety monitoring system and method.
Background technique
Tailings Dam, which refers to build a dam, intercepts what the mouth of a valley or exclosure were constituted, carries out mineral selection to store up metal or non-metal mine
Tailing or the place of other industrial residues is not discharged afterwards.Currently, China is especially highlighted in the form made laws to tailing library facilities
Safety supervision, wherein the decree put into effect just includes " Safety of Tailings Dam supervision and management regulation ".In addition, national security production supervision
Manage general bureau " about the notice for printing and distributing Tailings Dam hidden danger comprehensive treatment scheme " (safety supervision general pipeline mono- (2009) 112), country's peace
Full production supervision management general bureau " about the opinion for reinforcing non-coal mine security control Building Support System " (safety supervision general pipeline mono-
(2009) No. 204), national security supervision general bureau and State Flood Control and Drought Relief Headquarters be " about carrying out the flood seasons such as mine, Tailings Dam
The notice of safety in production " and national security supervision general bureau " the national Tailings Dam Special Treatment Actions of 2010 years are specifically pacified
Row " etc. requirement to Safety of Tailings Dam monitoring system Construction is also especially highlighted in files.
Tailings Dam is the artificial mud-rock flow danger source with high potential energy, and there are dam break danger, once accident, is easy to make
At severe and great casualty.In recent years, Tailings Dam dam-break accident in China's happens occasionally, and makes life and property safety of people by very big
It threatens, while also bringing serious harm to Environmental security.On April 30th, 2006, the Tailings Dam dam break of Zhenan, shaanxi gold, caused 17 people
Dead, 5 people injury；The especially great Tailings Dam dam-break accident in the Shanxi on the 8th of September in 2008 Xiangfen " 98 ", even more causes 277 people dead
It dies.Security control after Tailings Dam construction, has caused the great attention of country and people's governments at all levels.General Tailings Dam area compared with
Greatly, current Daily Round Check is manual inspection, inevitably exist inefficiency, data record inaccuracy, not exclusively, can be right
, the problems such as retention poor, night routing inspection not in place poorer than property.
Summary of the invention
Being designed to provide for the embodiment of the present invention is a kind of based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology prison
Examining system and method, realize the defeated end pipe in scene, tailing dam, water level line, saturation, Tailings Dam surrounding enviroment etc. " without dead
Angle ", " round-the-clock " monitoring and Data Management Analysis, record, simulation, solve that existing Tailings Dam monitoring efficiency is low, data note
Record inaccuracy, incomplete, comparability is poor, retention is poor, night routing inspection problem not in place.
To achieve the above object, the embodiment of the present invention provides a kind of based on unmanned plane and the Tailings Dam of dimensional Modeling Technology peace
Full monitoring system, the monitoring system includes unmanned plane management end, the geography to establish a connection with the unmanned plane management end
The unmanned unit of information collection and Daily Round Check monitor unmanned unit；
The unmanned unit of geographical information collection is used to acquire the orthography and inclination image of Tailings Dam to be monitored；It is described
Daily Round Check monitors unmanned unit for obtaining the real-time imaging of Tailings Dam to be monitored；The unmanned unit of geographical information collection and
Daily Round Check monitoring unmanned plane group is respectively equipped with image collecting module, data compressing module and wireless transport module, the image
Acquisition module is configured with 4K holder camera, zoom holder camera, infrared holder camera or five camera lens oblique photograph instrument, image collection
Module is used to acquire slag, Gan Tan, water body, pipeline, pumping plant, road and the surrounding enviroment geography information of Tailings Dam to be detected；
The data compressing module is used for the tail to be detected to acquisition configured with the encoder for supporting onvif agreement, data compressing module
Mine library vision signal, audio signal, data-signal compressed encoding；The wireless transport module is configured with 2.4GHz and 5.8GHz frequency
Section antenna, wireless transport module monitor unmanned unit for the unmanned unit of geographical information collection and Daily Round Check and carry out wireless data
Transmission；
The cluster server to establish a connection with the geographical information collection unmanned plane group, the cluster server are equipped with
Cluster computing module and three-dimensional modeling module, the cluster computing module are used to believe the Tailings Dam image geography to be detected of acquisition
It ceases data and carries out cluster operation image procossing；The three-dimensional modeling module is used for the Tailings Dam geography information number to be detected to acquisition
According to progress aerial triangulation resolving and reconstruction and the threedimensional model for generating Tailings Dam.
As the preferred embodiment of the Safety of Tailings Dam monitoring system based on unmanned plane and dimensional Modeling Technology, the monitoring system
System further includes three-dimensional modeling data analysis end, and three-dimensional modeling data analysis end establishes a connection with the cluster server, and three
Dimension module data analysis end is equipped with data measurement module, viewshed analysis module, flux-vector splitting module, excavated-in t4 analysis module and floods
No analog module；The data measurement module be used for in Tailings Dam threedimensional model pipeline, tailing dam length, elevation, the gradient,
Dry beach length, water level and Tailings Dam area data information measure；The viewshed analysis module is for simulating looking around for human eye
Effect checks in Tailings Dam threedimensional model the surrounding's visual information for selecting viewpoint；The flux-vector splitting module is used for Tailings Dam three
Terrain analysis a little is carried out to a certain region intervisibility situation for point of observation in dimension module；The excavated-in t4 analysis module is used for tail
Some region of excavated-in t4 information is analyzed in the threedimensional model of mine library；The flooding inundation simulation module is used for Tailings Dam three-dimensional mould
Some region of progress flooding inundation simulation analysis in type.
As the preferred embodiment of the Safety of Tailings Dam monitoring system based on unmanned plane and dimensional Modeling Technology, the monitoring system
System further includes threedimensional model post-processing end, and threedimensional model post-processing end establishes a connection with the cluster server, and three
Dimension module post-processes end and is equipped with inclination processing module, and the inclination processing module, which passes through, generates OSGB blocked file foundation index
One comprising where threedimensional model longitude, latitude, height value LFP file for browsing oblique photograph data.OSGB's is complete
Title is that Open Scene Gragh Binary, OSGB format is binary system storage, with inline linking data texturing.
As the preferred embodiment of the Safety of Tailings Dam monitoring system based on unmanned plane and dimensional Modeling Technology, the monitoring system
System further includes true three-dimension monitor configuration end, and the true three-dimension monitor configuration end and the Daily Round Check monitor unmanned unit sum aggregate group
Server establishes a connection, and true three-dimension monitor configuration end is used to carry out visualization pipe to the Tailings Dam for importing geographic information data
It manages and is used for Tailings Dam emergency command rescue, true three-dimension monitor configuration end is equipped with ground remote control device display screen, the ground remote control
Device display screen is for showing the observation interface of Tailings Dam.The morphogenetic data of group there was only its manufacture tool or other are dedicated
Tool could identify.The differ in that the configuration formed in Industry Control is the result is that be used in real time monitoring.Configuration work
The rendering engine of tool, be according to these configuration result real time executions.On the surface, the operation program of configuration instrument is exactly to execute
Specific task.
As the preferred embodiment of the Safety of Tailings Dam monitoring system based on unmanned plane and dimensional Modeling Technology, the geographical letter
Breath acquires unmanned unit and Daily Round Check monitoring unmanned plane group is respectively equipped with battery heating module, the battery heating module configuration
There is nickel foil, battery heating module is used to carry out heating and anti-freezing to the battery of unmanned unit.One end of nickel foil is connected with cathode, in addition
One section is connected by a control switch with cathode, and external circuit has one end of switch to be connected with nickel foil, when temperature is lower than 0 DEG C,
Switch is opened, and impressed current flows through nickel foil and generates heat, and after battery temperature reaches 0 DEG C, temperature detect switch (TDS) closure stops heating.
Since the resistance and temperature of nickel foil are in a linear relationship, the temperature of inside battery can be determined by measuring the resistance of nickel foil
Degree, the temperature of battery appearance can be measured by thermal resistance.
As the preferred embodiment of the Safety of Tailings Dam monitoring system based on unmanned plane and dimensional Modeling Technology, the monitoring system
System further includes fixed monitoring camera unit, and the monitor camera distribution of the fixed monitoring camera unit is fixed on tail to be monitored
Monitoring point in mine library is to obtain monitoring point realtime graphic.
The present invention also provides a kind of the Safety of Tailings Dam monitoring method based on unmanned plane and dimensional Modeling Technology, the monitoring
Method use above-mentioned monitoring system, the monitoring method the following steps are included:
Step 1: dispatching the unmanned unit of geographical information collection by unmanned plane management end, calls image collecting module acquisition
Slag, Gan Tan, water body, pipeline, pumping plant, road and the surrounding enviroment geography information of Tailings Dam to be detected；Pass through data compression
Module is to the Tailings Dam vision signal to be detected of acquisition, audio signal, data-signal compressed encoding；It will by wireless transport module
The geography information of the unmanned unit acquisition of geographical information collection is transferred to cluster server；
Step 2: cluster computing module is called to carry out cluster fortune to the Tailings Dam image geographic information data to be detected of acquisition
Calculate image procossing；Three-dimensional modeling module is called to carry out aerial triangulation solution to the Tailings Dam geographic information data to be detected of acquisition
It calculates and rebuilds, generate the threedimensional model of Tailings Dam；
Step 3: three-dimensional modeling data analysis end is sent by the threedimensional model of generation, calls data measurement module to tail
Pipeline, tailing dam length, elevation, the gradient in the threedimensional model of mine library, dry beach length, water level and Tailings Dam area data information into
Row measurement；Or and call the look-around impression of viewshed analysis module simulation human eye to check to select viewpoint in Tailings Dam threedimensional model
Surrounding visual information；Or and call flux-vector splitting module with a little logical to a certain region for point of observation in Tailings Dam threedimensional model
Optionally carry out terrain analysis；Or and call excavated-in t4 analysis module to some region of excavated-in t4 in Tailings Dam threedimensional model
Information is analyzed；Or and call flooding inundation simulation module to progresss flooding inundation simulation some region of in Tailings Dam threedimensional model divide
Analysis；
Step 4: the real-time imaging that Daily Round Check monitors the Tailings Dam to be monitored that unmanned unit obtains is imported into Tailings Dam
True three-dimension monitor configuration end is shown by observation interface of the ground remote control device display screen to Tailings Dam, realizes that Tailings Dam can
It is managed depending on changing.
As the preferred embodiment based on unmanned plane and the Safety of Tailings Dam monitoring method of dimensional Modeling Technology, the step 3
In further include sending threedimensional model post-processing end for the threedimensional model of generation, inclination processing module being called to pass through OSGB point
Block file establish index generate one comprising where threedimensional model longitude, latitude, height value LFP file for browsing inclination
Photographed data.
As the preferred embodiment based on unmanned plane and the Safety of Tailings Dam monitoring method of dimensional Modeling Technology, the step 4
In, the video that Daily Round Check monitors unmanned unit acquisition teaches skill art by high definition figure and is transferred to ground remote control device display screen, passes through
The external HDMI high definition line of remote controler passes through encoder again and HDMI signal is converted into network digital signal, accesses live dedicated network
It is transmitted back to total activation room.
As the preferred embodiment based on unmanned plane and the Safety of Tailings Dam monitoring method of dimensional Modeling Technology, the step 4
In further include that monitoring point realtime graphic will import in the Tailings Dam to be monitored that obtains of monitor camera of fixed monitoring camera unit
The true three-dimension monitor configuration end of Tailings Dam.
The embodiment of the present invention, which has the advantages that, can monitor, acquires and handle analysis Tailings Dam field data, realize
Normal table operation under the adverse circumstances such as high temperature, severe cold, strong wind, sand and dust, light rain, night；Analysis platform is handled by for many years
Development, it is stable；System connection uses standard interface completely, and image/video and geographical information collection, communication, multimedia are adopted
With international agreement, corresponding software design, as the programming of object, is convenient for module additions and deletions and use using structuring and face
Family maintenance, program structure, system structure are clearly understandable, convenient for safeguarding；System is not influenced by the adjustment of technological transformation, upgrading, tool
There are stronger adaptability and scalability；System meets associated safety regulation and regulation, processing analysis result accurate and effective, monitoring
Reliably and with long-term effectively；
Hazard Sources of Tailings Dam dynamic can be controlled for monitoring department personnel at any time, formulate improvement plan in time；It slaps at any time
The operating condition of Tailings Dam is controlled, every monitoring can comprehensively, in time, be accurately understood by true three-dimension monitor monitoring and control configuration platform
Situation has access to rapidly the firsthand information under emergency case, commands emergency disposal and rescue in time；It is intuitive to obtain Tailings Dam
And the monthly situation of change on periphery, it breaks down and flood overflows the flooded region in top, provide more accurate number to formulate emergency preplan
According to；The information such as the operation state, including flight path, speed, coordinate, historical record of unmanned plane belonging to understanding at any time；
Danger source dynamic can be received in time for peace ring departmental staff, it is dangerous to control Tailings Dam in office's getting online at any moment
Source dynamic；It scents a hidden danger in time, notifies higher level relevant departments；The operation state of unmanned plane belonging to understanding at any time, including flight rail
The information such as mark, speed, coordinate, historical record；The manual labor for alleviating floor manager, under the conditions of having ensured night and rain and snow weather
The safety of floor manager understands rapidly live details, scents a hidden danger, reports in time to total activation room, while also receiving total adjust
The tour instruction that degree room is issued for abnormal conditions, checks abnormal position, and report the developments immediately.
Detailed description of the invention
Fig. 1 is shown to be provided in an embodiment of the present invention based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology monitoring system
It is intended to；
Fig. 2 is that data are surveyed in the Safety of Tailings Dam monitoring system provided by the invention based on unmanned plane and dimensional Modeling Technology
It measures module and implements figure；
Fig. 3 is the ken point in the Safety of Tailings Dam monitoring system provided by the invention based on unmanned plane and dimensional Modeling Technology
It analyses module and implements figure；
Fig. 4 is excavated-in t4 in the Safety of Tailings Dam monitoring system provided by the invention based on unmanned plane and dimensional Modeling Technology
Analysis module implements figure；
Fig. 5 is to flood mould in the Safety of Tailings Dam monitoring system provided by the invention based on unmanned plane and dimensional Modeling Technology
Quasi- module implements figure；
Fig. 6 is very three-dimensional in the Safety of Tailings Dam monitoring system provided by the invention based on unmanned plane and dimensional Modeling Technology
It monitors configuration end and implements figure；
Fig. 7 is that the Safety of Tailings Dam monitoring method provided in an embodiment of the present invention based on unmanned plane and dimensional Modeling Technology is shown
It is intended to.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
It is a kind of that system, the monitoring system are monitored based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology referring to Fig. 1
Including unmanned plane management end 1, the unmanned unit 2 of geographical information collection to establish a connection with the unmanned plane management end 1 and day
Normal inspection monitors unmanned unit 3；The unmanned unit 2 of geographical information collection be used for acquire Tailings Dam to be monitored orthography and
Tilt image；The Daily Round Check monitors unmanned unit 3 for obtaining the real-time imaging of Tailings Dam to be monitored；The geography information
It acquires unmanned unit 2 and Daily Round Check and monitors unmanned unit 3 and be respectively equipped with image collecting module 4, data compressing module 5 and wireless
Transmission module 6, the image collecting module 4 are configured with 4K holder camera, zoom holder camera, infrared holder camera or five camera lenses
Oblique photograph instrument, image collecting module 4 are used to acquire slag, Gan Tan, water body, pipeline, pumping plant, the road of Tailings Dam to be detected
And surrounding enviroment geography information；The data compressing module 5 is configured with the encoder for supporting onvif agreement, data compressing module 5
For to the Tailings Dam vision signal to be detected of acquisition, audio signal, data-signal compressed encoding；The wireless transport module 6
Configured with 2.4GHz and 5.8GHz band antenna, wireless transport module 6 is used for the unmanned unit 2 of geographical information collection and Daily Round Check
It monitors unmanned unit 3 and carries out wireless data transmission；
The cluster server 16 to establish a connection with the unmanned unit 2 of the geographical information collection, the cluster server
16 are equipped with cluster computing module 7 and three-dimensional modeling module 8, and the cluster computing module 7 is used for the Tailings Dam to be detected to acquisition
Image geographic information data carries out cluster operation image procossing；The three-dimensional modeling module 8 is used for the tailing to be detected to acquisition
Library geographic information data carries out aerial triangulation resolving and reconstruction and the threedimensional model for generating Tailings Dam.
Referring to fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6 monitor system based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
One embodiment in, the monitoring system further includes three-dimensional modeling data analysis end 9, and three-dimensional modeling data analyzes end 9 and institute
It states cluster server 16 to establish a connection, three-dimensional modeling data analyzes end 9 and is equipped with data measurement module 10, viewshed analysis module
11, flux-vector splitting module 12, excavated-in t4 analysis module 13 and flooding inundation simulation module 14；The data measurement module 10 is used for tail
Pipeline, tailing dam length, elevation, the gradient in the threedimensional model of mine library, dry beach length, water level and Tailings Dam area data information into
Row measurement；The look-around impression that the viewshed analysis module 11 is used to simulate human eye, which is checked, selectes viewpoint in Tailings Dam threedimensional model
Surrounding visual information；The flux-vector splitting module 12 is used for a little logical to a certain region for point of observation in Tailings Dam threedimensional model
Optionally carry out terrain analysis；The excavated-in t4 analysis module 13 is used for some region of excavated-in t4 in Tailings Dam threedimensional model
Information is analyzed；The flooding inundation simulation module 14 is used for progress flooding inundation simulation some region of in Tailings Dam threedimensional model point
Analysis.
In one embodiment based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology monitoring system, the monitoring system
System further includes threedimensional model post-processing end 15, and the threedimensional model post-processing end 15 and the cluster server 16 establish connection pass
System, threedimensional model post-process end 15 and are equipped with inclination processing module 17, and the inclination processing module 17 passes through OSGB blocked file
Establish index generate one comprising where threedimensional model longitude, latitude, height value LFP file for browsing oblique photograph number
According to.The full name of OSGB is that Open Scene Gragh Binary, OSGB format is binary system storage, with inline linking
Data texturing.
In one embodiment based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology monitoring system, the monitoring system
System further includes true three-dimension monitor configuration end 18, and the true three-dimension monitor configuration end 18 monitors unmanned unit 3 with the Daily Round Check
Establish a connection with cluster server 16, true three-dimension monitor configuration end 18 be used for import geographic information data Tailings Dam into
Row visualized management is simultaneously rescued for Tailings Dam emergency command, and true three-dimension monitor configuration end 18 is equipped with ground remote control device display screen
19, the ground remote control device display screen 19 is for showing the observation interface of Tailings Dam.The morphogenetic data of group only have it
Manufacture tool or other specific purpose tools could identify.The differ in that the configuration formed in Industry Control the result is that with
In real time monitoring.The rendering engine of configuration instrument, be according to these configuration result real time executions.On the surface, configuration work
The operation program of tool is exactly to execute specific task.
In one embodiment based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology monitoring system, the geographical letter
Breath acquires unmanned unit 2 and Daily Round Check monitors unmanned unit 3 and is respectively equipped with battery heating module 20, the battery heating module
20 are configured with nickel foil, and battery heating module 20 is used to carry out heating and anti-freezing to the battery of unmanned unit.One end of nickel foil and cathode
It is connected, is in addition connected by a control switch with cathode for one section, external circuit has one end of switch to be connected with nickel foil, low in temperature
When 0 DEG C, switch is opened, and impressed current flows through nickel foil and generates heat, and after battery temperature reaches 0 DEG C, temperature detect switch (TDS) closure is stopped
Only heat.Since the resistance and temperature of nickel foil are in a linear relationship, can be determined in battery by measuring the resistance of nickel foil
The temperature of the temperature in portion, battery appearance can be measured by thermal resistance.
In one embodiment based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology monitoring system, the monitoring system
System further includes fixed monitoring camera unit 21, and the monitor camera distribution of the fixed monitoring camera unit 21 is fixed on wait supervise
The monitoring point in Tailings Dam is surveyed to obtain monitoring point realtime graphic.
The present invention monitors system and monitors unmanned unit 3, cluster service by the unmanned unit 2 of geographical information collection, Daily Round Check
Device 16, three-dimensional modeling data analysis end 9, threedimensional model post-processing end 15 and true three-dimension monitor configuration end 18 form；It is daily to patrol
Inspection monitors the video that unmanned unit 3 acquires and is transferred to ground remote control device display screen 19, live dedicated network paving by high definition figure
If after, by the external HDMI high definition line of remote controler, HDMI signal is then converted by network digital signal by encoder, is accessed
Live dedicated network is transmitted back to total activation room；Entire Tailings Dam is shot using the unmanned unit 2 of geographical information collection completely just penetrating
Image and inclination image；The image of shooting is imported into cluster server 16, carries out outdoor scene three-dimensional modeling；Outdoor scene threedimensional model is led
Enter three-dimensional modeling data analysis end 9, can carry out the measurement of distance, height and area, but regional analysis, flux-vector splitting, excavation and filling
Side's analysis, flooding inundation simulation, the operation such as double screen comparison；Using outdoor scene threedimensional model as base map, imports Daily Round Check and monitor unmanned plane
The realtime graphic of group 3 and other fixation monitoring camera units 21, realizes the visualized management of Tailings Dam；Affiliated unmanned plane is whole
Access unmanned plane management end 1, realize to the real-time monitoring of affiliated unmanned plane, flying quality (including flight path, the time, coordinate,
Speed, height etc.) tracking etc..
The hardware information used in one embodiment in monitoring system of the invention such as table one is to table seven:
Table one: 16 related hardware information of cluster server
Table two: unmanned plane information parameter
Three: 4K holder camera technique parameter list of table
Four: 30 times of zoom holder camera technique parameters of table
Table five: infrared holder camera technique parameter
| Size | Diameter 309mm X high 108mm |
| Weight | 1.8Kg |
| Operating temperature | - 10 DEG C to 40 DEG C |
| CCD quantity | 5pcs |
| CCD size | 23.5mm×15.6mm |
| Total pixel | Greater than 1.2 hundred million |
| Effective pixel | 24300000 |
| Pixel physical size | 3.9μm |
| Image resolution | Better than 2cm |
| Side-view mirror head tilt angle | 45° |
| Minimum exposure interval | 1 second |
| Lens focus | 20mm is just taken the photograph, 35mm is tilted |
| Storage capacity | (support extension) in 64G × 5 |
| Exposure mode | Fly control trigger exposure |
| System operation instruction | Indicator light real-time display system working condition |
| Adjustment mode | Included display cooperation menu key/USB is supported to adjust camera parameter |
Six: five camera lens oblique photograph instrument parameter of table
Table seven: coder parameters
In monitoring system one embodiment of the invention, the visual sensor of outfit can perceive the barrier within the scope of 30 meters of front
Hinder object, the object in 5 meters of the detectable top of top IR sensory perceptual system can be in uphill process, and maximum probability avoids aircraft
The case where hitting top barrier occurs.
The present invention uses high definition figure to teach skill art and brings image transmitting and command range far up to 7 kilometers for unmanned plane.System
It can switch between 2.4GHz and 5.8GHz frequency range automatically.Before flight, system automatically scanning simultaneously selects to interfere minimum frequency range, mentions
For more stable communication.It combines closely with ground station software, returns critical fligh parameter in real time, it may also be used for will be in aircraft
Photos and videos is quick-downloading to mobile device.
The sensor that IMU, barometer that the present invention uses etc. directly affect flight safety is all made of dual redundant design, from two
Set sensors for data simultaneously compares, and passes through advanced algorithm detection data accuracy.The data of mistake will be excluded, and be protected
Hinder normal flight, greatly improves the reliability of flight.
The present invention is controlled within 0.01 ° using the application that technical grade increases steady holder, camera shake is had benefited from, and is using 30
Also it can ensure that image clearly is stablized when times zoom.It is high that five camera lenses inclination aerial surveying camera have passed through a large amount of temperature cycling test, high temperature
The mm professional camera specials Shot Detection project such as wet test, fall-down test, vibratory test.For remotely monitoring, the technology of most critical is view
The compression transmission of frequency signal selects the high definition encoder for supporting onvif agreement, it can be by vision signal, audio signal, data
Signal compression coding is transmitted by special line communication line.
The present invention support multimachine assembly operation, the picture data more than 10,000,000,000 pixels can be handled, obtain fine details,
Sharp keen edge and geometric accuracy.The present invention, which passes through, establishes index one LFP file of generation, LFP text OSGB blocked file
Comprising longitude, the latitude, height value where threedimensional model, oblique photograph threedimensional model of being more convenient for is positioned part on earth.
Referring to Fig. 7, the Safety of Tailings Dam monitoring method based on unmanned plane and dimensional Modeling Technology that the present invention also provides a kind of,
The monitoring method use above-mentioned monitoring system, the monitoring method the following steps are included:
S1: by unmanned plane management end 1 dispatch the unmanned unit 2 of geographical information collection, call image collecting module 4 acquisition to
Slag, Gan Tan, water body, pipeline, pumping plant, road and the surrounding enviroment geography information of the Tailings Dam of detection；Pass through data compression mould
Tailings Dam vision signal to be detected, the audio signal, data-signal compressed encoding of 5 pairs of block acquisitions；It will by wireless transport module 6
The geography information that the unmanned unit 2 of geographical information collection acquires is transferred to cluster server 16；
S2: the Tailings Dam image geographic information data to be detected of 7 pairs of cluster computing module acquisitions is called to carry out collection group operatione
Image procossing；The Tailings Dam geographic information data to be detected of 8 pairs of three-dimensional modeling module acquisitions is called to carry out aerial triangulation solution
It calculates and rebuilds, generate the threedimensional model of Tailings Dam；
S3: three-dimensional modeling data analysis end 9 is sent by the threedimensional model of generation, calls data measurement module 10 to tailing
Pipeline, tailing dam length, elevation, the gradient, dry beach length, water level and Tailings Dam area data information in the threedimensional model of library carry out
Measurement；Or and the look-around impression that calls viewshed analysis module 11 to simulate human eye check and select viewpoint in Tailings Dam threedimensional model
Surrounding visual information；Or and call flux-vector splitting module 12 in Tailings Dam threedimensional model a little for point of observation to a certain region
Intervisibility situation carries out terrain analysis；Or and call excavated-in t4 analysis module 13 to some region of digging in Tailings Dam threedimensional model
Embankment information is analyzed；Or and call flooding inundation simulation module 14 flooded to some region of in Tailings Dam threedimensional model
Sunykatuib analysis；
S4: the real-time imaging that Daily Round Check monitors the Tailings Dam to be monitored that unmanned unit 3 obtains is imported into the true of Tailings Dam
Three-dimension monitor configuration end 18 shows the observation interface of Tailings Dam by ground remote control device display screen 19, realizes Tailings Dam
Visualized management.
In one embodiment of Safety of Tailings Dam monitoring method based on unmanned plane and dimensional Modeling Technology, in the S3 also
Including sending threedimensional model post-processing end 15 for the threedimensional model of generation, inclination processing module 17 being called to pass through OSGB points
Block file establish index generate one comprising where threedimensional model longitude, latitude, height value LFP file for browsing inclination
Photographed data.
In one embodiment of Safety of Tailings Dam monitoring method based on unmanned plane and dimensional Modeling Technology, in the S4,
The video that Daily Round Check monitors the unmanned acquisition of unit 3 teaches skill art by high definition figure and is transferred to ground remote control device display screen 19, passes through
The external HDMI high definition line of remote controler passes through encoder again and HDMI signal is converted into network digital signal, accesses live dedicated network
It is transmitted back to total activation room.
In one embodiment of Safety of Tailings Dam monitoring method based on unmanned plane and dimensional Modeling Technology, in the S4 also
Including monitoring point realtime graphic importing tail in the Tailings Dam to be monitored for obtaining the monitor camera of fixed monitoring camera unit 21
The true three-dimension monitor configuration end 18 in mine library.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. monitoring system based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology, it is characterised in that: the monitoring system packet
Unmanned plane management end (1) is included, the unmanned unit of geographical information collection (2) to establish a connection with the unmanned plane management end (1)
Unmanned unit (3) is monitored with Daily Round Check；
The unmanned unit of geographical information collection (2) is used to acquire the orthography and inclination image of Tailings Dam to be monitored；It is described
Daily Round Check monitors the real-time imaging that unmanned unit (3) is used to obtain Tailings Dam to be monitored；The geographical information collection unmanned plane
Group (2) and Daily Round Check monitor unmanned unit (3) and are respectively equipped with image collecting module (4), data compressing module (5) and wireless biography
Defeated module (6), the image collecting module (4) are configured with 4K holder camera, zoom holder camera, infrared holder camera or five mirrors
Head tilt photographic apparatus, image collecting module (4) be used to acquire the slag of Tailings Dam to be detected, Gan Tan, water body, pipeline, pumping plant,
Road and surrounding enviroment geography information；The data compressing module (5) is configured with the encoder for supporting onvif agreement, data pressure
Contracting module (5) is used for the Tailings Dam vision signal to be detected of acquisition, audio signal, data-signal compressed encoding；It is described wireless
Transmission module (6) is configured with 2.4GHz and 5.8GHz band antenna, and wireless transport module (6) is used for geographical information collection unmanned plane
Group (2) and Daily Round Check monitor unmanned unit (3) and carry out wireless data transmission；
The cluster server (16) to establish a connection with the unmanned unit of the geographical information collection (2), the cluster server
(16) it is equipped with cluster computing module (7) and three-dimensional modeling module (8), the cluster computing module (7) is used for the to be checked of acquisition
It surveys Tailings Dam image geographic information data and carries out cluster operation image procossing；The three-dimensional modeling module (8) is used for acquisition
Tailings Dam geographic information data to be detected carries out aerial triangulation resolving and reconstruction and the threedimensional model for generating Tailings Dam.
2. according to claim 1 monitor system, feature based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
Be: the monitoring system further includes three-dimensional modeling data analysis end (9), and three-dimensional modeling data analyzes end (9) and the cluster
Server (16) establishes a connection, and three-dimensional modeling data analyzes end (9) and is equipped with data measurement module (10), viewshed analysis module
(11), flux-vector splitting module (12), excavated-in t4 analysis module (13) and flooding inundation simulation module (14)；The data measurement module
(10) for pipeline, tailing dam length, elevation, the gradient, dry beach length, water level and the Tailings Dam face in Tailings Dam threedimensional model
Volume data information measures；The look-around impression that the viewshed analysis module (11) is used to simulate human eye checks Tailings Dam three-dimensional mould
Surrounding's visual information of viewpoint is selected in type；The flux-vector splitting module (12) is used for be a little to see in Tailings Dam threedimensional model
It examines and terrain analysis a little is carried out to a certain region intervisibility situation；The excavated-in t4 analysis module (13) is used for Tailings Dam threedimensional model
In some region of excavated-in t4 information analyzed；The flooding inundation simulation module (14) is used for a certain in Tailings Dam threedimensional model
The carry out flooding inundation simulation analysis in region.
3. according to claim 1 monitor system, feature based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
Be: the monitoring system further includes threedimensional model post-processing end (15), threedimensional model post-processing end (15) and the collection
Group's server (16) establishes a connection, and threedimensional model post-processing end (15), which is equipped with, tilts processing module (17), at the inclination
It manages module (17) and includes longitude, the latitude, height where threedimensional model by the way that OSGB blocked file is established index generation one
The LFP file of value is for browsing oblique photograph data.
4. according to claim 1 monitor system, feature based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
Be: the monitoring system further includes true three-dimension monitor configuration end (18), the true three-dimension monitor configuration end (18) and the day
Normal inspection monitors unmanned unit (3) and cluster server (16) establishes a connection, and true three-dimension monitor configuration end (18) is used for pair
The Tailings Dam for importing geographic information data carries out visualized management and rescues for Tailings Dam emergency command, true three-dimension monitor configuration
(18) are held to be equipped with ground remote control device display screen (19), the ground remote control device display screen (19) is used for the observation interface to Tailings Dam
It is shown.
5. according to claim 1 monitor system, feature based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
Be: the unmanned unit of geographical information collection (2) and Daily Round Check monitor unmanned unit (3) and are respectively equipped with battery heating module
(20), the battery heating module (20) is configured with nickel foil, and battery heating module (20) is used to carry out the battery of unmanned unit
Heating and anti-freezing.
6. according to claim 1 monitor system, feature based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
Be: the monitoring system further includes fixed monitoring camera unit (21), and the monitoring of the fixed monitoring camera unit (21) is taken the photograph
Camera distribution is fixed on the monitoring point in Tailings Dam to be monitored to obtain monitoring point realtime graphic.
7. the Safety of Tailings Dam monitoring method based on unmanned plane and dimensional Modeling Technology, the monitoring method uses such as claim
Monitoring system described in 1 to 6 any one, it is characterised in that: the monitoring method the following steps are included:
Step 1: the unmanned unit of geographical information collection (2) are dispatched by unmanned plane management end (1), are called image collecting module (4)
Acquire slag, Gan Tan, water body, pipeline, pumping plant, road and the surrounding enviroment geography information of Tailings Dam to be detected；Pass through data
Compression module (5) is to the Tailings Dam vision signal to be detected of acquisition, audio signal, data-signal compressed encoding；By wirelessly passing
The geography information that the unmanned unit of geographical information collection (2) acquires is transferred to cluster server (16) by defeated module (6)；
Step 2: cluster computing module (7) are called to carry out cluster fortune to the Tailings Dam image geographic information data to be detected of acquisition
Calculate image procossing；Three-dimensional modeling module (8) are called to carry out aerial triangle survey to the Tailings Dam geographic information data to be detected of acquisition
Amount is resolved and is rebuild, and generates the threedimensional model of Tailings Dam；
Step 3: three-dimensional modeling data analysis end (9) is sent by the threedimensional model of generation, calls data measurement module (10) right
Pipeline, tailing dam length, elevation, the gradient, dry beach length, water level and Tailings Dam area data information in Tailings Dam threedimensional model
It measures；Or and call viewshed analysis module (11) simulation human eye look-around impression check in Tailings Dam threedimensional model select
Surrounding's visual information of viewpoint；Or and call flux-vector splitting module (12) in Tailings Dam threedimensional model a little be point of observation pair
A certain region intervisibility situation carries out terrain analysis；Or and call excavated-in t4 analysis module (13) to certain in Tailings Dam threedimensional model
The excavated-in t4 information in one region is analyzed；Or and call flooding inundation simulation module (14) to a certain area in Tailings Dam threedimensional model
The carry out flooding inundation simulation analysis in domain；
Step 4: the real-time imaging that Daily Round Check monitors the Tailings Dam to be monitored of unmanned unit (3) acquisition is imported into Tailings Dam
True three-dimension monitor configuration end (18) shows the observation interface of Tailings Dam by ground remote control device display screen (19), realizes
Tailings Dam visualized management.
8. the Safety of Tailings Dam monitoring method according to claim 7 based on unmanned plane and dimensional Modeling Technology, feature
It is: further includes in the step 3, sends threedimensional model post-processing end (15) for the threedimensional model of generation, call at inclination
It manages module (17) and includes longitude, the latitude, height where threedimensional model by the way that OSGB blocked file is established index generation one
The LFP file of value is for browsing oblique photograph data.
9. the Safety of Tailings Dam monitoring method according to claim 7 based on unmanned plane and dimensional Modeling Technology, feature
Be: in the step 4, the video that Daily Round Check monitors unmanned unit (3) acquisition teaches skill art by high definition figure and is transferred to ground
Remote controller displays screen (19) passes through encoder by the external HDMI high definition line of remote controler again and HDMI signal is converted into network digital
Signal accesses live dedicated network and is transmitted back to total activation room.
10. the Safety of Tailings Dam monitoring method according to claim 7 based on unmanned plane and dimensional Modeling Technology, feature
It is: further includes in the step 4, the Tailings Dam to be monitored that the monitor camera of fixed monitoring camera unit (21) is obtained
Middle monitoring point realtime graphic imports the true three-dimension monitor configuration end (18) of Tailings Dam.
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