CN104660986A - Tailing pond emergent environmental incident remote sensing monitoring method and system based on unmanned aerial vehicle - Google Patents
Tailing pond emergent environmental incident remote sensing monitoring method and system based on unmanned aerial vehicle Download PDFInfo
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- CN104660986A CN104660986A CN201510026396.1A CN201510026396A CN104660986A CN 104660986 A CN104660986 A CN 104660986A CN 201510026396 A CN201510026396 A CN 201510026396A CN 104660986 A CN104660986 A CN 104660986A
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- 230000007613 environmental effect Effects 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000012544 monitoring process Methods 0.000 title claims abstract description 47
- 238000003912 environmental pollution Methods 0.000 claims abstract description 18
- 230000006378 damage Effects 0.000 claims description 10
- 239000002893 slag Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000012732 spatial analysis Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 1
- 238000007418 data mining Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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Abstract
The invention provides a tailing pond emergent environmental incident remote sensing monitoring method and system based on an unmanned aerial vehicle. The method comprises the following steps: the unmanned aerial vehicle flies according to a preset flight line, the image data in a flight area and the spatial position and flight attitude information of the unmanned aerial vehicle are obtained, and the spatial position and flight attitude information of the unmanned aerial vehicle are sent to a central processor; after the unmanned aerial vehicle lands, the unmanned aerial vehicle sends the image data in the flight area to the central processor; the central processor processes the image data in the flight area according to the spatial position and flight attitude information of the unmanned serial vehicle, and environmental pollution information of tailing pond emergent environmental incidents are determined. Through the tailing pond emergent environmental incident remote sensing monitoring method and system based on the unmanned aerial vehicle provided by the invention, the tailing pond emergent environmental incidents can be responded in time, the method is unrestricted by geographical conditions, dynamic monitoring of the tailing pond emergent environmental incidents is realized, and the environmental pollution monitoring precision for the tailing pond emergent environmental incidents is high.
Description
Technical field
The present invention relates to unmanned aerial vehicle remote sensing monitoring technical field, particularly relate to a kind of Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane and system.
Background technology
Tailings Dam refers to what build a dam the interception mouth of a valley or exclosure were formed, sorts the place of rear discharge mine tailing or other industrial residues in order to store up metal or non-metallic ore.Tailings Dam is an artificial mud-rock flow dangerous matter sources with high potential energy.Reach more than ten years even during many decades in, various naturally (rainwater, earthquake, rat hole etc.) and artificial (manage improperly, relationship between industry and agriculture is inharmonious) unfavorable factor at every moment or periodically threaten its safety.The fact shows again and again, and Tailings Dam, once accident, will to be produced to workers and peasants and downstream people's lives and properties cause huge disaster and loss.
The primary metering method of traditional Tailings Dam unexpected environmental accident is that manual site makes an on-the-spot survey, and understands tailings impoundment system, flood drainage system, return water system destruction situation, understands slag leakage rate and diffusion tendency.Because Tailings Dam is mainly distributed in mountain area, with a varied topography, physical features is strategically located and difficult of access, and even some areas can not arrive, and seriously hinders the collection of accident data, is difficult to the demand meeting emergency monitoring.Along with the development of remote sensing technology, relevant unit starts to utilize satellite remote sensing technology to analyze Tailings Dam unexpected environmental accident, but China's civil remote sensing satellite quantity is few, revisiting period is long, and spatial resolution is lower, the external high score data harmonization cycle is long, is difficult to the demand meeting unexpected environmental accident emergency monitoring.
Summary of the invention
For defect of the prior art, the invention provides a kind of Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane and system, can make Tailings Dam unexpected environmental accident and responding timely, do not restrict by geographical conditions, realize the dynamic monitoring to Tailings Dam unexpected environmental accident, high to Tailings Dam unexpected environmental accident environmental pollution monitoring precision.
First aspect, the invention provides a kind of Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane, comprising:
Unmanned plane flies according to the line of flight preset, and obtains the image data of flight range, the locus of described unmanned plane and flight attitude information, and the locus of described unmanned plane and flight attitude information are sent to central server;
After described unmanned plane landing, the image data of described flight range is sent to described central server by described unmanned plane;
Described central server, according to the locus of described unmanned plane and flight attitude information, processes the image data of described flight range, determines Tailings Dam unexpected environmental accident environmental pollution information.
Further, before described unmanned plane carries out flight step according to the line of flight preset, comprising:
Described central server obtains the information of Tailings Dam;
Described central server, according to the information of described Tailings Dam, determines the line of flight of described unmanned plane;
The line of flight of described unmanned plane is sent to described unmanned plane by described central server, flies according to the described line of flight to make described unmanned plane.
Further, the information of described Tailings Dam, comprises the type of Tailings Dam, the scale of Tailings Dam, the locus of Tailings Dam, the downstream space distributed intelligence of Tailings Dam upstream.
Further, described unmanned plane carries image modalities;
Described unmanned plane carries radio transmission apparatus.
Further, described unmanned plane flies according to the line of flight preset, and obtains the image data of flight range, the locus of described unmanned plane and flight attitude information, comprising:
Described unmanned plane flies according to the line of flight preset, and described image modalities gathers the image data of flight range in described flight range overhead;
When described image modalities exposure, according to global position system GPS and inertial measurement method, obtain locus and the flight attitude information of described unmanned plane.
Further, the locus of described unmanned plane and flight attitude information are sent to central server, comprising:
Described unmanned plane obtains locus and the flight attitude information of described unmanned plane, by described radio transmission apparatus real-time the locus of described unmanned plane and flight attitude information are sent to described central server.
Further, after described unmanned plane landing, the image data of described flight range is sent to described central server by described unmanned plane, comprising:
After described unmanned plane landing, by described radio transmission apparatus, the image data of described flight range is sent to described central server.
Further, described central server, according to the locus of described unmanned plane and flight attitude information, processes the image data of described flight range, determines Tailings Dam unexpected environmental accident environmental pollution information, comprising:
Described central server, according to the locus of described unmanned plane and flight attitude information, employing ortho-rectification method, carries out ortho-rectification to the image data of described flight range, to obtain the image data of the flight range after ortho-rectification;
Described central server adopts image splicing method and the image data of the even color method of even light to the flight range after described ortho-rectification to splice, to obtain spliced image data;
Described central server adopts visual interpretation method to carry out visual interpretation to described spliced image data, to obtain described Tailings Dam unexpected environmental accident environmental pollution information.
Further, described Tailings Dam unexpected environmental accident environmental pollution information comprises: slag amount of leakage, Tailings Dam downstream slag reveal space distribution information, tailings reservoir for piling system destruction information, tailings storage backwater tapered system destruction information.
Second aspect, the invention provides a kind of Tailings Dam unexpected environmental accident remote sense monitoring system based on unmanned plane, comprising: unmanned plane and central server;
Described central server is connected with described UAV Communication;
The described Tailings Dam unexpected environmental accident remote sense monitoring system based on unmanned plane performs above either method.
As shown from the above technical solution, by the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane provided by the invention and system, wherein, method comprises: unmanned plane flies according to the line of flight preset, obtain the image data of flight range, the locus of described unmanned plane and flight attitude information, and the locus of described unmanned plane and flight attitude information are sent to central server; After described unmanned plane landing, the image data of described flight range is sent to described central server by described unmanned plane; Described central server, according to the locus of described unmanned plane and flight attitude information, processes the image data of described flight range, determines Tailings Dam unexpected environmental accident environmental pollution information.By the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane provided by the invention and system, can make Tailings Dam unexpected environmental accident and responding timely, do not restrict by geographical conditions, realize the dynamic monitoring to Tailings Dam unexpected environmental accident, high to Tailings Dam unexpected environmental accident environmental pollution monitoring precision.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below the accompanying drawing used required in embodiment or description of the prior art is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The schematic flow sheet of a kind of Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane that Fig. 1 provides for the embodiment of the present invention;
The structural representation of a kind of Tailings Dam unexpected environmental accident remote sense monitoring system based on unmanned plane that Fig. 2 provides for the embodiment of the present invention.
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The schematic flow sheet of a kind of Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane that Fig. 1 provides for the embodiment of the present invention, as shown in Figure 1, the unexpected environmental accident remote-sensing monitoring method based on unmanned plane of the present embodiment is as described below.
101, unmanned plane flies according to the line of flight preset, and obtains the image data of flight range, the locus of described unmanned plane and flight attitude information, and the locus of described unmanned plane and flight attitude information are sent to central server.
It should be understood that Tailings Dam has an accident, huge threat can be brought to the life of environment and people, therefore need to monitor Tailings Dam unexpected environmental accident situation timely.Adopt unmanned plane to carry out real-time monitoring in the present embodiment, the precision of monitoring can be improved simultaneously.
Unmanned plane flies according to the line of flight preset, and image modalities gathers the image data of flight range in flight range overhead, meanwhile, obtains locus and the flight attitude information of unmanned plane.
It should be understood that before unmanned plane carries out flight step according to the line of flight preset, comprising:
Central server obtains the information of Tailings Dam.
Tailings Dam information in unexpected environmental accident is pre-stored within central server, and the information of its Tailings Dam just transferred by central server.
The information of Tailings Dam, comprises the type of Tailings Dam, the scale of Tailings Dam, the locus of Tailings Dam, the downstream space distributed intelligence of Tailings Dam upstream.
Central server, according to the information of Tailings Dam, determines the line of flight of unmanned plane.
The line of flight of unmanned plane is sent to unmanned plane by central server, flies according to the line of flight to make unmanned plane.
It should be understood that image modalities gathers image data in overhead, unmanned plane during flying region, namely image data is gathered near Tailings Dam and upstream and downstream area.
It should be understood that unmanned plane flies according to the line of flight preset, obtain the image data of flight range, the locus of unmanned plane and flight attitude information:
Unmanned plane flies according to the line of flight preset, and image modalities gathers the image data of flight range in flight range overhead.
When image modalities exposes, according to global positioning system (Global PositioningSystem is called for short GPS) and inertial measurement method, obtain locus and the flight attitude information of unmanned plane.
Be understandable that, unmanned plane obtains the locus of unmanned plane and flight attitude information, by radio transmission apparatus real-time the locus of unmanned plane and flight attitude information are sent to central server.
It should be understood that and unmanned plane carries image modalities; Described unmanned plane carries radio transmission apparatus.Image capture device is optical camera.
Unmanned plane comprises rotor wing unmanned aerial vehicle and fixed-wing unmanned plane, here not to specifically selecting which kind of unmanned plane to limit in this example.
102, after described unmanned plane landing, the image data of described flight range is sent to described central server by described unmanned plane.
It should be understood that the image data of flight range is sent to central server by unmanned plane after unmanned plane landing.
Will also be appreciated that after unmanned plane landing, by radio transmission apparatus, the image data of flight range is sent to central server.
103, described central server is according to the locus of described unmanned plane and flight attitude information, processes the image data of described flight range, determines Tailings Dam unexpected environmental accident environmental pollution information.
It should be understood that the image data of flight range that central server receives unmanned plane and sends, according to unmanned plane locus and flight attitude information and camera parameter, image data is processed, and then obtains Tailings Dam unexpected environmental accident polluted information.
Central server is according to the locus of described unmanned plane and flight attitude information, employing ortho-rectification method, ortho-rectification is carried out to the image data of described flight range, to obtain the image data of the flight range after ortho-rectification, and extract digital elevation model (Digital Elevation Model, the vehicle economy M) data of flight range.
Central server adopts image splicing method and the image data of the even color method of even light to the flight range after described ortho-rectification to splice, to obtain spliced image data.
Central server, according to the dem data of flight range and spliced image data, adopts the method for spatial analysis, obtains the information such as slag leakage rate.
Central server adopts visual interpretation method to carry out visual interpretation to described spliced image data, to obtain described Tailings Dam unexpected environmental accident environmental pollution information.
Tailings Dam unexpected environmental accident environmental pollution information comprises: slag amount of leakage, Tailings Dam downstream slag reveal space distribution information, tailings reservoir for piling system destruction information, tailings storage backwater tapered system destruction information.
Visual interpretation is the one of remote sensing image interpretation, is also called visual judgement, or Visual Interpretation Applied, is the inverse process of remotely sensed image, is the process of the object information by directly observing or obtain on image by auxiliary interpretation instrument specific objective.
Spatial analysis is that being from the spatial relationship between target, obtain the information of derivation and new knowledge, is the process of obtaining information from one or more spatial data layer in order to solve the data analysis and data mining that geographical space problem carries out.
It will also be appreciated that, spatial distribution, tailings reservoir for piling system destruction situation, tailings storage backwater tapered system destruction situation, tailings storage backwater tapered system destruction situation etc. can be revealed according to slag amount of leakage, Tailings Dam downstream slag, formulate relevant emergency measures, preventing pollution further spreads.
By the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane that the present embodiment provides, can make Tailings Dam unexpected environmental accident and responding timely, do not restrict by geographical conditions, realize the dynamic monitoring to Tailings Dam unexpected environmental accident, high to Tailings Dam unexpected environmental accident environmental pollution monitoring precision.
The structural representation of a kind of prison of the Tailings Dam unexpected environmental accident based on unmanned plane remote sensing examining system that Fig. 2 provides for the embodiment of the present invention, as shown in Figure 2, the Tailings Dam unexpected environmental accident remote sense monitoring system based on unmanned plane that provides of the present embodiment is as described below.
Based on the Tailings Dam unexpected environmental accident remote sense monitoring system of unmanned plane, comprising: unmanned plane 21 and central server 22.
Central server 22 and unmanned plane 21 communicate to connect;
Tailings Dam unexpected environmental accident remote sense monitoring system based on unmanned plane performs the method for above-described embodiment, realizes the precise monitoring to Tailings Dam unexpected environmental accident.
By the Tailings Dam unexpected environmental accident remote sense monitoring system based on unmanned plane that the present embodiment provides, can make Tailings Dam unexpected environmental accident and responding timely, do not restrict by geographical conditions, realize the dynamic monitoring to Tailings Dam unexpected environmental accident, high to Tailings Dam unexpected environmental accident environmental pollution monitoring precision.
One of ordinary skill in the art will appreciate that: all or part of step realizing said method embodiment can have been come by the hardware that program command is relevant, aforesaid program can be stored in the storage medium of embodied on computer readable, this program, when performing, performs the step comprising said method embodiment; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium in.
The above, be only the specific embodiment of the present invention, but; protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or substitute, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of described claim.
Claims (10)
1., based on a Tailings Dam unexpected environmental accident remote-sensing monitoring method for unmanned plane, it is characterized in that, comprising:
Unmanned plane flies according to the line of flight preset, and obtains the image data of flight range, the locus of described unmanned plane and flight attitude information, and the locus of described unmanned plane and flight attitude information are sent to central server;
After described unmanned plane landing, the image data of described flight range is sent to described central server by described unmanned plane;
Described central server, according to the locus of described unmanned plane and flight attitude information, processes the image data of described flight range, determines Tailings Dam unexpected environmental accident environmental pollution information.
2. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 1, is characterized in that, before described unmanned plane carries out flight step according to the line of flight preset, comprising:
Described central server obtains the information of Tailings Dam;
Described central server, according to the information of described Tailings Dam, determines the line of flight of described unmanned plane;
The line of flight of described unmanned plane is sent to described unmanned plane by described central server, flies according to the described line of flight to make described unmanned plane.
3. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 2, it is characterized in that, the information of described Tailings Dam, comprises the type of Tailings Dam, the scale of Tailings Dam, the locus of Tailings Dam, the downstream space distributed intelligence of Tailings Dam upstream.
4. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 1, is characterized in that, described unmanned plane carries image modalities;
Described unmanned plane carries radio transmission apparatus.
5. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 4, it is characterized in that, described unmanned plane flies according to the line of flight preset, and obtains the image data of flight range, the locus of described unmanned plane and flight attitude information, comprising:
Described unmanned plane flies according to the line of flight preset, and described image modalities gathers the image data of flight range in described flight range overhead;
When described image modalities exposure, according to global position system GPS and inertial measurement method, obtain locus and the flight attitude information of described unmanned plane.
6. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 4, is characterized in that, the locus of described unmanned plane and flight attitude information are sent to central server, comprising:
Described unmanned plane obtains locus and the flight attitude information of described unmanned plane, by described radio transmission apparatus real-time the locus of described unmanned plane and flight attitude information are sent to described central server.
7. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 4, is characterized in that, after described unmanned plane landing, the image data of described flight range is sent to described central server by described unmanned plane, comprising:
After described unmanned plane landing, by described radio transmission apparatus, the image data of described flight range is sent to described central server.
8. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 1, it is characterized in that, described central server is according to the locus of described unmanned plane and flight attitude information, the image data of described flight range is processed, determine Tailings Dam unexpected environmental accident environmental pollution information, comprising:
Described central server, according to the locus of described unmanned plane and flight attitude information, employing ortho-rectification method, carries out ortho-rectification to the image data of described flight range, to obtain the image data of the flight range after ortho-rectification;
Described central server adopts image splicing method and the image data of the even color method of even light to the flight range after described ortho-rectification to splice, to obtain spliced image data;
Described central server adopts visual interpretation method to carry out visual interpretation to described spliced image data, to obtain described Tailings Dam unexpected environmental accident environmental pollution information.
9. the Tailings Dam unexpected environmental accident remote-sensing monitoring method based on unmanned plane according to claim 8, it is characterized in that, described Tailings Dam unexpected environmental accident environmental pollution information comprises: slag amount of leakage, Tailings Dam downstream slag reveal space distribution information, tailings reservoir for piling system destruction information, tailings storage backwater tapered system destruction information.
10., based on a Tailings Dam unexpected environmental accident remote sense monitoring system for unmanned plane, it is characterized in that, comprising: unmanned plane and central server;
Described central server is connected with described UAV Communication;
The described Tailings Dam unexpected environmental accident remote sense monitoring system enforcement of rights based on unmanned plane requires either method in 1 to 9.
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| CN106990128A (en) * | 2017-04-05 | 2017-07-28 | 北京矿冶研究总院 | Plaque image and pollution characteristic coupling method in regional tailing pond environmental risk assessment |
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Application publication date: 20150527 |