CN115752381A - Mine monitoring method based on unmanned aerial vehicle remote sensing technology - Google Patents
Mine monitoring method based on unmanned aerial vehicle remote sensing technology Download PDFInfo
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Abstract
The invention discloses a mine monitoring method based on an unmanned aerial vehicle remote sensing technology, and relates to the technical field of mine surveying and mapping. The mine image acquisition system comprises an image acquisition module, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring mine image information; the flight platform is used for carrying the image acquisition module for aerial photography; the control system is used for controlling the flight platform, namely the image acquisition module; the communication module is used for remotely communicating with the flight platform and the image acquisition module; the storage module is used for storing various information collected by the image collection module; and the information receiving and processing module is used for processing various information sent back by the image acquisition module. According to the invention, the mine is monitored by adopting an unmanned aerial vehicle remote sensing technology, a high-definition aerial survey image can be obtained in a low airspace, parameter information with higher accuracy can be obtained by means of integration and carding of the parameters, a live-action three-dimensional model is generated, quantitative analysis such as square quantity calculation and change monitoring can be carried out, the calculation accuracy is high, and a foundation is laid for mine ecological restoration monitoring.
Description
Technical Field
The invention belongs to the technical field of mine surveying and mapping, and particularly relates to a mine monitoring method based on an unmanned aerial vehicle remote sensing technology.
Background
With the development of green economy, the mine environment needs to be repaired in time in order to deal with the damage of mining to the environment. Therefore, the mine needs to be surveyed in time, the current situation of mine development is known in time, dynamic monitoring of a mining area is realized, and quick emergency response capability is provided for major mine events.
The environment of the surface mine is complex, and has great altitude difference, and traditional survey technique relies on main equipment such as total powerstation measuring apparatu, theodolite analysis appearance, and the key is mainly the investigation survey and drawing activity of geological survey personnel field work to realize the manual monitoring to the mine. The survey technology has obvious defects in jungle gully regions, which are mainly embodied in the following two points:
1. the sight line in the jungle gully region is very seriously blocked, which seriously hinders the normal use of field geological surveying equipment such as a level tester, a theodolite analyzer and a total station tester, thereby greatly reducing the precision and the working effect of surveying data and consuming a large amount of manpower and material resources;
2. due to the fact that the land conditions of high mountains and hills are complicated in structure, survey operators cannot step against specific survey positions everywhere, therefore, more measurement blind areas can be generated, measurement accuracy is greatly reduced, and meanwhile the efficiency of collecting survey information is quite low.
Disclosure of Invention
The invention aims to provide a mine monitoring method based on an unmanned aerial vehicle remote sensing technology, which can quickly acquire a high-resolution orthophoto map of a mining area by adopting the unmanned aerial vehicle remote sensing technology, can generate a real-scene three-dimensional model by utilizing a high-resolution unmanned aerial vehicle image, calculates high-precision true-color three-dimensional topographic data, can perform quantitative analysis such as square calculation, change monitoring and the like, and solves the problems that the existing surveying technology depends on equipment such as a total station measuring instrument, a theodolite analyzer and the like, and is mainly based on surveying and mapping activities of field operation of geological surveyors, not only can a large amount of manpower and material resources be consumed, but also the accuracy of data acquisition is low, and the efficacy of collecting surveying information is also very low.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a mine monitoring method based on an unmanned aerial vehicle remote sensing technology, which comprises an image acquisition module, a remote control module and a remote control module, wherein the image acquisition module is used for acquiring mine image information; the flight platform is used for carrying the image acquisition module for aerial photography; the control system is used for controlling the flight platform, namely the image acquisition module; the communication module is used for remotely communicating with the flight platform and the image acquisition module; the storage module is used for storing various information collected by the image collection module; the information receiving and processing module is used for processing various information sent back by the image acquisition module; further monitoring the mine, comprising the steps of: s1: and (3) field reconnaissance: performing site survey on the mine, confirming project coordinates and engineering range, and selecting a proper unmanned aerial vehicle take-off and landing point within the survey area range; s2: controlling on the ground: according to the measurement precision requirement, a plurality of image control points are distributed in the mine; s3: designing a route: setting route data according to the drawing proportion and the modeling precision requirement; s4: acquiring flight: finishing flying according to a designed route, and respectively acquiring survey area image data and POS data from five different directions and angles, namely vertical direction, front direction, rear direction, left side and right side; s5: and (3) data quality inspection: importing the image data of the measurement area into drawing software, carrying out aerial triangular inspection by using the drawing software to generate a quality report, and judging whether the quality meets the requirement of a result; s6: optimizing data: utilizing drawing software to complete POS data optimization and carrying out three-dimensional modeling; s7: three-dimensional reconstruction: selecting a three-dimensional model by using mapping software, setting parameters and outputting a model format, and starting reconstruction to form a three-dimensional model of a mining area; s8: monitoring a mine: and carrying out digital processing according to the dynamically monitored three-dimensional models before and after construction, and comparing to obtain the landform and landform change information of the mine.
In a preferred embodiment of the present invention, in S3, the course data includes a flight altitude, a side lap rate, and a heading lap rate.
As a preferred technical solution of the present invention, after the three-dimensional reconstruction, result analysis is further performed: and importing the image data into drawing software to generate contour lines and DTM information.
As a preferable embodiment of the present invention, in S8, the range position and the slope of the mine slope are obtained using the digital orthographic image and the slope model.
In a preferred embodiment of the present invention, in S8, the slope greening effect and the growth information can be observed by using the digital orthographic image and the image reflected by the tilt model.
As a preferred technical solution of the present invention, in S8, the result data is loaded into the mapping software by using the digital orthoimage and the inclination model, and the mining area and the earthwork data can be visually measured by comparing the images observed before and after mining.
As a preferred technical scheme of the invention, the drawing software includes but is not limited to Xinjiang intelligent drawing software.
The invention has the following beneficial effects:
1. according to the invention, the mine is monitored by adopting an unmanned aerial vehicle remote sensing technology, a high-definition aerial survey image can be obtained in a low airspace, a parameter message with higher precision can be obtained by integrating and combing the parameters, a live-action three-dimensional model is generated, quantitative analysis such as square quantity calculation, change monitoring and the like can be carried out, the calculation precision is high, and a foundation is laid for mine ecological restoration monitoring.
2. By adopting the unmanned aerial vehicle remote sensing technology, the information such as the ground condition structure data of the surveying and mapping area piece is collected from the aerial image, and the complex field surveying work is not required to be carried out by organizing geological survey personnel, so that the actual geological parameter collecting effect is enhanced, and the financial and material resource investment of engineering surveying and mapping is greatly reduced.
Of course, it is not necessary for any product to practice the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a mine monitoring method based on unmanned aerial vehicle remote sensing technology according to the present invention;
FIG. 2 is a schematic view of the acquisition of the flight direction angle in S4;
fig. 3 is a schematic diagram of data quality inspection information in S5.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship merely to facilitate description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced components or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be construed as limiting the invention.
Referring to fig. 1, the embodiment provides a mine monitoring method based on the unmanned aerial vehicle remote sensing technology, a high-resolution orthophoto map of a mining area can be rapidly obtained through the unmanned aerial vehicle remote sensing technology, a live-action three-dimensional model can be generated by using the high-resolution unmanned aerial vehicle image, quantitative analysis such as square quantity calculation and change monitoring can be performed, the calculation precision is high, and a foundation is laid for mine ecological restoration monitoring.
The human-machine remote sensing technology mainly comprises the following software and hardware facilities: and the image acquisition module is used for acquiring mine image information.
Flight platform is unmanned aerial vehicle promptly for carry the image acquisition module and take photo by plane.
And the control system is used for controlling the flight platform, namely the image acquisition module.
And the communication module is used for remotely communicating with the flight platform and the image acquisition module.
And the storage module is used for storing various information acquired by the image acquisition module.
And the information receiving and processing module is used for processing various information sent back by the image acquisition module.
Taking a certain mining area as an example, the unmanned aerial vehicle remote sensing technology is adopted to monitor the mine, and the method comprises the following steps:
s1: performing site reconnaissance: and (3) carrying out site reconnaissance on the surface mine, confirming project coordinates and an engineering range, combining the total area of a treatment area with 47.9 mu, and selecting a proper unmanned aerial vehicle take-off and landing point in a survey area range. The preparation work before flight is as follows: judging weather conditions of a local survey area, and ensuring that various factors such as cloud layer distribution, thickness, illumination, air visibility and the like meet the remote sensing requirement; checking the surrounding geographical conditions of the measuring area, and estimating the height and the altitude difference of the terrain for selecting a proper flight scheme and a flight route at the later stage to ensure the flight safety; and selecting a proper take-off and landing place within the range of the survey area.
S2: controlling on the ground: according to the measurement precision requirement, a plurality of image control points are distributed in the mine; the operation adopts Zhonghaida VRTK2, 3 ground control points are set for the mine survey area, and field measurement is completed. The set number and the positions of the image control points are changed according to the actual condition of the area to be measured.
S3: designing a route: the operation adopts a longitude and latitude M300RTK + Zen Si P1 tripod head, and the design proportion is 1:500, mapping and modeling accuracy, and setting the flying height to be 100m, the lateral overlapping rate to be 70 percent and the heading overlapping rate to be 80 percent in order to meet the proportion requirement. And carrying out unmanned plane route design on the Liu Shandang oral surveying area. Before the unmanned aerial vehicle flies, a series of checks are carried out on an unmanned aerial vehicle remote controller, a battery, an onboard camera, GPS positioning check, GPS control and the like, and the unmanned aerial vehicle can take off after all equipment are confirmed to be correct.
S4: acquiring flight: referring to fig. 2, when the flight is completed according to the designed route, the survey area image data and the POS data are acquired from five different directions and angles, i.e., vertical direction, front direction, rear direction, left side, and right side, respectively (the positioning and attitude determination system senses the acceleration of the drone by using an Inertial Measurement Unit (IMU), and acquires information such as the speed and attitude of the drone through integral operation).
S5: and (3) data quality inspection: referring to fig. 3, after flying, the image data of the measurement area is imported into the software of the university map, the software of the university map is used for carrying out the aerial triangle inspection to generate a quality report, whether the quality meets the achievement requirement is judged, and the next step is carried out if the data quality meets the requirement.
S6: optimizing data: after the Xinjiang intelligent image software enters the image control point pricking point, the Xinjiang intelligent image software is utilized to complete POS data optimization and carry out three-dimensional modeling.
S7: three-dimensional reconstruction: and selecting a three-dimensional model by utilizing the Xinjiang intelligent map software, setting parameters and outputting a model format, and starting reconstruction to quickly form three-dimensional model data of the mining area.
S8: and (4) analyzing results: by utilizing data results, live-action images can be directly and effectively observed, and image data can also be imported into the Dajiang intelligent map software to generate contour line, DTM (digital terrestrial model) information and the like, so that information such as volume, gradient, section line and the like is calculated and used for transformation monitoring and quantitative analysis.
S9: according to the three-dimensional model, the three-dimensional model which is dynamically monitored before and after construction is subjected to digital processing and comparison to obtain the landform and landform change information of the mine, and the change of the mine can be rapidly and visually observed through the information, such as:
1. and obtaining the range position and the gradient of the mine slope by using the digital orthographic image and the inclination model.
2. By utilizing the digital orthographic images and the images reflected by the inclined model, the side slope greening effect and the growth condition information can be observed, and green plants with side slope necrosis and development defects can be replanted or reformed in time.
3. By utilizing the digital orthographic images and the inclined model, the result data is loaded to the Dajiang intelligent map software, the coordinate and elevation data can be directly checked, the area and the earthwork data of the mining range can be visually measured through image comparison of observation before and after mining, and the condition in mine management can be rapidly and efficiently monitored.
4. The method has the advantages that large-scale digital processing can be carried out by collecting the generated model achievement data, the model achievement data are loaded to mapping software, a topographic map is drawn, the working efficiency is high, and the current situation of the digital mine can be rapidly monitored, updated and reflected.
In conclusion, the unmanned remote sensing technology can meet the basic requirements of periodic surveying and mapping of surface mines in terms of hardware conditions and subsequent processing, and the advantages of excellent emergency performance, short operation period, convenient operation, possible capital saving and the like are increasingly emphasized in the mine surveying and mapping work. The method is particularly suitable for the instant acquisition of high-resolution remote sensing data, has the advantages of good data quality, high speed and mobility and the like, and has wide application prospects in the fields of daily production safety management, mineral resource storage verification, slope and tailing pond safety monitoring, emergency management and the like of surface mines.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. A mine monitoring method based on an unmanned aerial vehicle remote sensing technology is characterized by comprising the following steps:
the image acquisition module is used for acquiring mine image information; the flight platform is used for carrying the image acquisition module for aerial photography; the control system is used for controlling the flight platform, namely the image acquisition module; the communication module is used for remotely communicating with the flight platform and the image acquisition module; the storage module is used for storing various information collected by the image collection module; the information receiving and processing module is used for processing various information sent back by the image acquisition module;
further monitoring the mine, comprising the steps of:
s1: performing site reconnaissance: performing site survey on the mine, confirming project coordinates and engineering range, and selecting a proper unmanned aerial vehicle take-off and landing point within the survey area range;
s2: controlling on the ground: according to the measurement precision requirement, a plurality of image control points are distributed in the mine;
s3: designing a route: setting route data according to the drawing proportion and the modeling precision requirement;
s4: flight acquisition: finishing the flight according to a designed air route, and respectively acquiring the image data of a measuring area and POS data from five different directions and angles of the vertical direction, the front direction, the rear direction, the left side and the right side;
s5: and (3) data quality inspection: importing the image data of the measurement area into drawing software, carrying out aerial triangular inspection by using the drawing software to generate a quality report, and judging whether the quality meets the requirement of a result;
s6: optimizing data: utilizing drawing software to complete POS data optimization and carrying out three-dimensional modeling;
s7: three-dimensional reconstruction: selecting a three-dimensional model by using mapping software, setting parameters and outputting a model format, and starting reconstruction to form a three-dimensional model of a mining area;
s8: monitoring a mine: and carrying out digital processing according to the dynamically monitored three-dimensional models before and after construction, and comparing to obtain the landform and landform change information of the mine.
2. The mine monitoring method based on the unmanned aerial vehicle remote sensing technology as claimed in claim 1, wherein in S3, the course data includes flight altitude, side-to-side overlap ratio and course overlap ratio.
3. The mine monitoring method based on the unmanned aerial vehicle remote sensing technology as claimed in claim 1, wherein after the three-dimensional reconstruction, result analysis is further performed: and importing the image data into drawing software to generate contour lines and DTM information.
4. The mine monitoring method based on the unmanned aerial vehicle remote sensing technology as claimed in claim 1, wherein in S8, the range position and the gradient of the mine slope are obtained by using a digital orthographic image and an inclination model.
5. The mine monitoring method based on the unmanned aerial vehicle remote sensing technology as claimed in claim 4, wherein in S8, the slope greening effect and the growth information can be observed by using the digital orthographic image and the image reflected by the inclined model.
6. The mine monitoring method based on the unmanned aerial vehicle remote sensing technology as claimed in claim 5, wherein in S8, the result data is loaded to mapping software by using a digital orthoimage and an inclined model, and the mining area and the earth data can be visually measured through image comparison of observation before and after mining.
7. The mine monitoring method based on unmanned aerial vehicle remote sensing technology according to any one of claims 1-6, wherein the mapping software includes but is not limited to Dajiang wisdom diagram software.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116310915A (en) * | 2023-05-22 | 2023-06-23 | 山东科技大学 | Tailings dry beach index identification method based on UAV and deep learning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116310915A (en) * | 2023-05-22 | 2023-06-23 | 山东科技大学 | Tailings dry beach index identification method based on UAV and deep learning |
| CN116310915B (en) * | 2023-05-22 | 2023-08-18 | 山东科技大学 | Tailings dry beach index identification method based on UAV and deep learning |
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