CN-117310637-B - Mine environment investigation method based on unmanned aerial vehicle investigation

CN117310637BCN 117310637 BCN117310637 BCN 117310637BCN-117310637-B

Abstract

The invention provides a mine environment investigation method based on unmanned aerial vehicle investigation, and belongs to the technical field of mine environment investigation. According to the method, an unmanned aerial vehicle route is established by dividing a mine area, mine environment data are acquired through the unmanned aerial vehicle, a three-dimensional model is built, and when the mine environment changes, the specific condition of the mine environment is further acquired through the unmanned aerial vehicle. The invention solves the problems that the existing mine environment mostly depends on manual investigation, wastes time and labor and has low safety, and has the advantage of preventing mining accidents.

Inventors

WEN XIAOQING
XIANG BIN
HAN WEIJIANG
XI RONG
YANG ZIYI
HUANG TAIYU
QIU CHEN

Assignees

生态环境部华南环境科学研究所(生态环境部生态环境应急研究所)

Dates

Publication Date: 20260505
Application Date: 20230209

Claims (8)

1. The mine environment investigation method based on unmanned aerial vehicle investigation is characterized by comprising the following steps of: S1, confirming a target mine position, defining a mine area according to a mine area division rule, establishing an unmanned aerial vehicle route according to the mine area, and acquiring a point cloud data set of a mine through an unmanned aerial vehicle; S2, constructing a three-dimensional model of a mine overall environment and a three-dimensional model of each mine area through a point cloud data set acquired by an unmanned aerial vehicle, wherein the three-dimensional model of the mine overall environment and the three-dimensional model of each mine area are constructed through the point cloud data set acquired by the unmanned aerial vehicle, and the three-dimensional model of each mine area comprises the following steps: SA1, laying 8-10 elevation datum points outside a mine area according to the range of the mine area, acquiring longitude and latitude coordinates and elevation of the datum points, and laying a GPS receiver in the mine area; SA2, after the unmanned aerial vehicle is started, the unmanned aerial vehicle navigates according to the route of the unmanned aerial vehicle, and the unmanned aerial vehicle acquires point cloud data, GPS data and IMU data of a mine area in the flying process and returns the point cloud data, the GPS data and the IMU data to the control terminal; SA3, synchronously resolving point cloud data acquired by the unmanned airborne radar, GPS data acquired by the GPS unit and IMU data acquired by the inertial measurement unit, generating point cloud data with absolute coordinates, splicing the point cloud data to obtain a point cloud data set, and calculating the point cloud data set to generate a triangular grid model of each mine area, namely a three-dimensional model of each mine area; SA4, combining the three-dimensional models of all the mine areas according to the position relation to obtain a three-dimensional model of the overall mine environment; S3, the unmanned aerial vehicle periodically acquires a point cloud data set of the mine according to the set route, and a three-dimensional model of the overall mine environment and a three-dimensional model of each mine area are built through the point cloud data set acquired by the unmanned aerial vehicle and serve as mine environment investigation data; S4, comparing and judging the initial mine environment data with the mine environment investigation data, and obtaining the position information of the environment change when the environment change is judged; S5, acquiring a low-level picture through the position of the unmanned aerial vehicle with the identification model, the camera and the gas sensor, which reaches the environmental change, and returning the shot picture in real time, wherein the identification model identifies the shot picture, the type of the object in the environment and the picture screenshot obtained by identification are returned to the terminal, and the gas sensor returns the acquired concentration of the environmental gas to the terminal; And S6, obtaining a mine environment investigation result by combining the screen returned by the unmanned aerial vehicle, the screen capture of the object type in the environment obtained by the identification model, the screen capture of the environment and the concentration of the environmental gas with the mine exploitation progress.
2. The mine environment investigation method based on unmanned aerial vehicle investigation is characterized in that the mine area division rule is that area division is conducted according to the mine edge zone and the positions of all mine openings, and each unmanned aerial vehicle route is obtained through scene photos of 5-10 unmanned aerial vehicles.
3. The mine environment investigation method based on unmanned aerial vehicle investigation according to claim 1, wherein the unmanned aerial vehicle in step S2 and step S3 is equipped with an unmanned aerial vehicle radar, a GPS unit, and an inertial measurement unit.
4. The mine environment investigation method based on unmanned aerial vehicle investigation of claim 1, wherein the unmanned aerial vehicle starting comprises starting an inertial measurement unit, an unmanned aerial vehicle radar and a GPS, and setting the unmanned aerial vehicle radar to enter a data acquisition state.
5. The mine environment investigation method based on unmanned aerial vehicle investigation according to claim 1, wherein the step S4 comprises: And comparing and analyzing the mine initial environment data and the mine environment investigation data to obtain point cloud distance differences with the same longitude and latitude of the mine initial environment data and the mine environment investigation data, judging that the mine environment is not deformed when the differences are smaller than 1% of the initial data, otherwise judging that the mine environment is deformed, outputting the longitude and latitude of deformed point cloud and corresponding environment change types, and obtaining a three-dimensional topographic change map of the mine environment after comparing all the point cloud data.
6. The mine environment investigation method based on unmanned aerial vehicle investigation according to claim 5, wherein the environment change type comprises ground collapse and ground bulge.
7. The mine environment investigation method based on unmanned aerial vehicle investigation according to claim 1, wherein the gas sensor comprises a carbon monoxide sensor, a nitrogen dioxide sensor and a hydrogen sulfide sensor.
8. The mine environment investigation method based on unmanned aerial vehicle investigation according to claim 1, wherein the recognition model is trained based on YOLOv algorithm, and the object types in the environment comprise human beings, mining equipment and vegetation.

Description

Mine environment investigation method based on unmanned aerial vehicle investigation Technical Field The invention relates to the technical field of mine environment investigation, in particular to a mine environment investigation method based on unmanned aerial vehicle investigation. Background Mine refers to an independent production and operation unit of mined ore with a certain mining boundary. Mines mainly comprise one or more mining workshops (or pithead, mine, surface stope, etc.) and some auxiliary workshops, most of which also comprise a mine field (coal washery). In the mine construction and production process, the natural conditions are complex, the operation environment is poor, and people have not fully and deeply known objective rules of mine disasters, so that the disasters are possibly caused by paralyzed ideas and illegal operations and illegal command. Investigation of the mine environment is necessary in order to avoid occurrence of mining problems. The mine environment comprises meteorological hydrology, topography, stratum lithology, geological structure, new structure movement, hydrogeology, engineering geology and environmental geological conditions. However, due to the complex mine environment, manual investigation is often performed in the present day, but the manual investigation is time-consuming and labor-consuming and has low safety. Disclosure of Invention The mine environment monitoring system solves the technical problems that the existing mine environment mostly depends on manual investigation, and is time-consuming, labor-consuming and low in safety. In order to solve the problems, the technical scheme of the invention is as follows: A mine environment investigation method based on unmanned aerial vehicle investigation comprises the following steps: S1, confirming a target mine position, defining a mine area according to a mine area division rule, establishing an unmanned aerial vehicle route according to the mine area, and acquiring a point cloud data set of a mine through an unmanned aerial vehicle; S2, constructing a three-dimensional model of a mine overall environment and a three-dimensional model of each mine area by using a point cloud data set acquired by an unmanned aerial vehicle as mine initial environment data; S3, the unmanned aerial vehicle periodically acquires a point cloud data set of the mine according to the set route, and a three-dimensional model of the overall mine environment and a three-dimensional model of each mine area are built through the point cloud data set acquired by the unmanned aerial vehicle and serve as mine environment investigation data; S4, comparing and judging the initial mine environment data with the mine environment investigation data, and obtaining the position information of the environment change when the environment change is judged; S5, acquiring a low-level picture through the position of the unmanned aerial vehicle with the identification model, the camera and the gas sensor, which reaches the environmental change, and returning the shot picture in real time, wherein the identification model identifies the shot picture, the type of the object in the environment and the picture screenshot obtained by identification are returned to the terminal, and the gas sensor returns the acquired concentration of the environmental gas to the terminal; And S6, obtaining a mine environment investigation result by combining the screen returned by the unmanned aerial vehicle, the screen capture of the object type in the environment obtained by the identification model, the screen capture of the screen capture and the concentration of the ambient gas with the mine exploitation progress. Further, the mine area division rule is that area division is conducted according to the mine edge zone and the positions of all mine openings, and each unmanned aerial vehicle route is obtained through scene photos of 5-10 unmanned aerial vehicles. The method has the advantages that in the process of mining of the mine, the underground structure change of the mine is necessarily related to mining of the mine openings, meanwhile, the change of the mine environment is necessarily influenced by other land environments bordering the mine, therefore, the method for dividing the area by taking the edge zone of the mine and the positions of the mine openings as references is a dividing method capable of reflecting the change condition of the mine environment, and is convenient for capturing the occurrence condition of the landform rapidly when the subsequent unmanned aerial vehicle is used for carrying out mine environment investigation. Further, the unmanned aerial vehicle in step S2 and step S3 is equipped with an unmanned airborne radar, a GPS unit, and an inertial measurement unit. The unmanned aerial vehicle airborne radar system has the advantages that the unmanned aerial vehicle airborne radar can acquire point cloud data of a mine environment in the navigat