CN-121545295-B - Regional geological disaster prevention and control management method, device, equipment and storage medium

Abstract

The invention relates to the technical field of geological disaster prevention and control, and discloses a regional geological disaster prevention and control management method, device, equipment and storage medium, wherein a reference association model of regional lattice beams is constructed, a mapping relation is established among reference mark space coordinates, flight parameters and pixel coordinates, a flight trajectory is dynamically corrected based on the difference between the mark pixel coordinates and the reference data acquired in real time in the flight process, and data deviation is reduced from an acquisition source; the corrected flight parameters are fully applied to subsequent image calibration, the coordination of the flight correction and the image data calibration processing is realized, the consistency of the image scale and the space position is improved, the crack expansion parameters, the deformation characteristic parameters and the flight track deviation accumulation amount are combined for carrying out grading early warning, the data reliability is quantized, and the false alarm caused by single parameter judgment are avoided. Finally, the characteristic contrast precision and the early warning reliability of the lattice beam monitoring are obviously improved, and the high precision requirement of high-steep slope geological disaster prevention and control is met.

Inventors

• DU KAI
• ZHOU WEI

Assignees

• 四川省第九地质大队

Dates

Publication Date

20260508

Application Date

20260120

Claims (5)

1. 1. The regional geological disaster prevention and control management method is characterized by comprising the following steps of: acquiring reference monitoring data of the regional lattice beams, and constructing a reference correlation model, wherein the reference monitoring data comprises reference mark space coordinates, reference flight parameters and reference mark pixel coordinates; The method specifically comprises the steps of controlling a monitoring unmanned aerial vehicle to execute ground-like flight close to a slope in an area lattice Liang Pomian with preset reference marks, collecting reference images of the area lattice beam along a preset reference route, recording three-dimensional space coordinates of each reference mark as reference mark space coordinates by using an RTK module carried by the monitoring unmanned aerial vehicle, recording reference flight parameters of the unmanned aerial vehicle by using a posture sensor carried by the monitoring unmanned aerial vehicle, extracting reference mark pixel coordinates in the reference images as reference mark pixel coordinates, establishing a mapping relation among the reference mark space coordinates, the reference flight parameters and the reference mark pixel coordinates, and generating a reference relation model; Based on the reference correlation model, controlling the monitoring unmanned aerial vehicle to execute a current monitoring task, and synchronously and dynamically correcting the flight track of the unmanned aerial vehicle for executing the current monitoring task while the monitored unmanned aerial vehicle collects current monitoring data comprising corrected flight parameters, current collected images and current identification space coordinates; The method specifically comprises the steps of taking a reference flight parameter in a reference correlation model as an initial configuration parameter, controlling a monitoring unmanned aerial vehicle to start a current monitoring task, acquiring a current acquisition image of an area lattice beam according to an initial route in real time, acquiring a current identification space coordinate by utilizing an RTK module carried by the monitoring unmanned aerial vehicle, acquiring a real-time flight parameter of the monitoring unmanned aerial vehicle by utilizing a posture sensor carried by the monitoring unmanned aerial vehicle, extracting a pixel coordinate of a reference mark in the current acquisition image as a real-time identification pixel coordinate, comparing the real-time identification pixel coordinate with the reference identification pixel coordinate in the reference correlation model, calculating a horizontal pixel offset and a vertical pixel offset of each mark, taking average horizontal pixel offset and average vertical pixel offset of all marks as corrected flight parameters, combining the reference flight parameters in the reference correlation model, converting the average horizontal pixel offset and the average vertical pixel offset into a height adjustment amount, a horizontal position adjustment amount and an angle adjustment amount of the unmanned aerial vehicle, dynamically correcting a flight track of the current monitoring task, and storing the corrected current image and the current space coordinate to form correlation data after the current monitoring task is completed; based on the reference correlation model, the corrected flight parameters in the current monitoring data and the current identification space coordinates, executing calibration processing on the current acquired image in the current monitoring data and performing feature comparison with the reference image to obtain a feature comparison result; The method comprises the steps of calculating a calibrated scale factor of a current acquisition image by combining a reference flight parameter and corrected flight data in a reference correlation model based on a physical diameter and a reference scale factor of a reference mark, taking a reference mark space coordinate in the reference correlation model as a reference, taking a horizontal translation amount in the corrected flight parameter as an initial registration parameter, carrying out registration operation on the current mark space coordinate by adopting an iterative nearest point algorithm, and minimizing coordinate deviation to obtain a registered current mark space coordinate; analyzing crack extension parameters and deformation characteristic parameters of the regional lattice beams based on the characteristic comparison result; Generating hierarchical early warning information for regional geological disaster prevention and control according to the crack extension parameters, the deformation characteristic parameters and the flight trajectory deviation accumulation amount determined in the process of dynamically correcting the flight trajectory; the method comprises the steps of calculating the accumulation amount of the flight track deviation by counting the sum of the first absolute values of all the height adjustment amounts and the sum of the second absolute values of all the angle adjustment amounts in the dynamic correction flight track process and combining the vertical slope height in the reference flight parameter; The method specifically comprises the steps of judging primary early warning when the accumulated amount of the flying track deviation is smaller than or equal to a first preset value and any one of a crack expansion parameter and a deformation characteristic parameter triggers a threshold value, judging secondary early warning when the accumulated amount of the flying track deviation is smaller than or equal to a second preset value and at least two of the crack expansion parameter and the deformation characteristic parameter triggers a threshold value, and judging tertiary early warning when the accumulated amount of the flying track deviation is smaller than or equal to a third preset value and at least three of the crack expansion parameter and the deformation characteristic parameter triggers a threshold value.
2. 2. The regional geological disaster prevention management method of claim 1, wherein the step of analyzing the crack extension parameter and the deformation characteristic parameter of the regional lattice beam based on the characteristic comparison result comprises the following steps: Based on the calibrated scale factors, calculating the width and length of the crack in the reference image and the current acquired image, and obtaining the crack width expansion amount and the crack length expansion amount as crack expansion parameters; calculating the actual displacement of the nodes of the lattice beams based on the difference value between the registered current identification space coordinates and the reference identification space coordinates, taking a preset key area of the lattice beams in the reference image as a template, matching in the current acquisition image to obtain the horizontal pixel displacement and the vertical pixel displacement of the preset key area, and converting the pixel displacement into the actual deformation by combining the calibrated size factors; And obtaining the time interval between the current monitoring task and the reference monitoring, and calculating the ratio of the actual displacement to the time interval to obtain the displacement rate of the nodes of the lattice beam, wherein the actual displacement, the actual deformation and the displacement rate of the nodes are used as deformation characteristic parameters.
3. 3. Regional geological disaster prevention management device for performing the regional geological disaster prevention management method as set forth in any one of claims 1-2, comprising: the construction module is used for acquiring reference monitoring data of the regional lattice beam and constructing a reference correlation model, wherein the reference monitoring data comprises reference identification space coordinates, reference flight parameters and reference identification pixel coordinates; The correction module is used for controlling the monitoring unmanned aerial vehicle to execute the current monitoring task based on the reference correlation model, and synchronously and dynamically correcting the flight track of the unmanned aerial vehicle to execute the current monitoring task while the monitored unmanned aerial vehicle collects current monitoring data comprising corrected flight parameters, current collected images and current identification space coordinates; The comparison module is used for executing calibration processing on a current acquired image in the current monitoring data and performing feature comparison with a reference image based on the reference correlation model, the corrected flight parameters in the current monitoring data and the current identification space coordinates to obtain a feature comparison result; the analysis module is used for analyzing crack extension parameters and deformation characteristic parameters of the regional lattice beams based on the characteristic comparison result; And the early warning module is used for generating hierarchical early warning information for preventing and controlling regional geological disasters according to the crack extension parameters, the deformation characteristic parameters and the flight track deviation accumulation quantity determined in the process of dynamically correcting the flight track.
4. 4. An regional geological disaster prevention management device comprising a memory, a processor and a regional geological disaster prevention management program stored on the memory and executable on the processor, the regional geological disaster prevention management program when executed by the processor implementing the steps of the regional geological disaster prevention management method as set forth in any one of claims 1 to 2.
5. 5. A storage medium having stored thereon a regional geological disaster control management program which when executed by a processor implements the steps of the regional geological disaster control management method as set forth in any one of claims 1 to 2.

Description

Regional geological disaster prevention and control management method, device, equipment and storage medium Technical Field The invention relates to the technical field of geological disaster prevention and control, in particular to a regional geological disaster prevention and control management method, device and equipment and a storage medium. Background The high-steep side slope lattice beam supporting structure is a common geological disaster protection form in the scenes of mountain traffic engineering, mining and the like, and the structural integrity of the high-steep side slope lattice beam supporting structure is directly related to the safety of surrounding personnel and facilities. The accurate capture of precursor signals such as crack extension, node deformation of the lattice beam is the core for realizing early warning of geological disasters, and the posture of the lattice beam supporting structure at different node positions can be different, so that the difficulty is improved for geological disaster early warning of high-steep slope lattice beam supporting structure analysis. Unmanned aerial vehicle has become the mainstream instrument of lattice beam monitoring because of possessing non-contact, high-efficient, adaptation complex topography's advantage. However, the existing unmanned aerial vehicle monitoring technology has the obvious limitations that firstly, the high-steep side slope is complex in terrain and changeable in airflow, the problems of flying height fluctuation, shooting angle deviation, horizontal/vertical coordinate dislocation and the like are easy to occur during front and rear two-time monitoring of the unmanned aerial vehicle, the acquired images are distorted in view angle, inconsistent in scale and spatially misplaced, and the error caused by the two-time monitoring difference of the unmanned aerial vehicle can be aggravated due to different postures of a lattice beam supporting structure at different node positions, the accuracy of feature comparison is directly affected, secondly, the traditional monitoring method is mostly dependent on acquired data calibration, a real-time correction mechanism in the flight process is lacked, errors caused by original acquisition deviation are difficult to be completely eliminated, crack expansion amount and deformation calculation deviation are caused, thirdly, flight track correction and data post-processing are mutually independent, and corrected flight parameters are not fully applied to a subsequent calibration process, and the reliability of early warning is further reduced. Disclosure of Invention The embodiment of the invention aims to provide a regional geological disaster prevention and control management method and system, which at least solve the problems of data distortion, lack of coordination between flight correction and data calibration and low early warning reliability caused by flight track deviation when an existing unmanned aerial vehicle monitors a lattice beam. In order to achieve the above purpose, the present invention provides a regional geological disaster prevention and control management method, comprising the following steps: acquiring reference monitoring data of the regional lattice beams, and constructing a reference correlation model, wherein the reference monitoring data comprises reference mark space coordinates, reference flight parameters and reference mark pixel coordinates; Based on the reference correlation model, controlling the monitoring unmanned aerial vehicle to execute a current monitoring task, and synchronously and dynamically correcting the flight track of the unmanned aerial vehicle for executing the current monitoring task while the monitored unmanned aerial vehicle collects current monitoring data comprising corrected flight parameters, current collected images and current identification space coordinates; based on the reference correlation model, the corrected flight parameters in the current monitoring data and the current identification space coordinates, executing calibration processing on the current acquired image in the current monitoring data and performing feature comparison with the reference image to obtain a feature comparison result; analyzing crack extension parameters and deformation characteristic parameters of the regional lattice beams based on the characteristic comparison result; And generating hierarchical early warning information for regional geological disaster prevention and control according to the crack expansion parameters, the deformation characteristic parameters and the flight trajectory deviation accumulation amount determined in the process of dynamically correcting the flight trajectory. Optionally, acquiring reference monitoring data of the regional lattice beam, and constructing a reference correlation model, which specifically comprises the following steps: the unmanned monitoring plane is controlled to execute ground-imitating flight clos