CN111397541A - Method, device, terminal and medium for measuring slope angle of refuse dump - Google Patents
Method, device, terminal and medium for measuring slope angle of refuse dump Download PDFInfo
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Abstract
The application discloses a method, a device, a terminal and a medium for measuring a slope angle of a refuse dump. The method comprises the following steps: acquiring a plurality of enhanced image frames of a waste dump and particle information of particles on the surface of a soil pile of the waste dump; performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image; determining a side slope angle of the 3D reconstructed image; and carrying out landslide analysis processing on the refuse dump according to the side slope angle and the particle information. The method and the device have the advantages that the waste dump is restored through image processing, the purpose of remotely measuring the slope angle of the waste dump is realized, the cost of measuring the slope angle of the waste dump is reduced, the working strength is high, the measurement efficiency of the slope angle is improved, the measurement precision of the slope angle is improved, the problem of resource waste caused by excessive measurement times of the slope angle is avoided, and the safety effect of improving operation of the waste dump is achieved.
Description
Technical Field
The application relates to the technical field of computers, in particular to a method, a device, a terminal and a medium for measuring a slope angle of a refuse dump.
Background
In the field of slope measurement, the slope angle of a refuse dump is often measured and corrected. The side slope angle is one of important parameters for determining the safety of the dump, and is mainly applied to the two fields of early warning of unstable landslide of the dump and protection of safety of mine personnel. The current mining mode on the mine mainly comprises a steep-wall mining mode and a large-step mining mode. The stability of side slope is the key factor of considering, and it can be fairly dangerous and troublesome not have accurate real-time side slope angular surveying, and when the granularity on side slope surface was too big, internal friction grow cohesion can diminish, produces the landslide very easily when the large granule sinks, also can make the safety in mine receive the influence, and then drags the mining progress in whole mine slowly. Therefore, for mining safety, whether steep-wall mining or large-bench mining is adopted, accurate adjustment needs to be made on the change measurement of the slope angle in real time so as to analyze the landslide.
At present, the side slope angle is measured by adopting a manual observation method, and a measurer measures the side slope angle of the refuse dump in a manual mode when using a slope measuring instrument to measure the side slope angle of the refuse dump. Therefore, this method has the following problems: firstly, the working strength is high, and the efficiency is low; secondly, the problem of resource waste exists due to low accuracy of side slope angle measurement; and thirdly, the accuracy of slope angle measurement is low, so that the precision of landslide analysis of the dump is poor.
Disclosure of Invention
The application provides a method, a device, a terminal and a medium for measuring a side slope angle of a refuse dump, which are used for solving the problems of high working strength, low efficiency, low measurement accuracy and resource waste in side slope angle measurement.
According to a first aspect of the present application, there is provided a method of measuring a bank angle of a refuse dump, the method comprising:
acquiring a plurality of enhanced image frames of a waste dump and particle information of particles on the surface of a soil pile of the waste dump;
performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image;
determining a side slope angle of the 3D reconstructed image;
and carrying out landslide analysis treatment on the refuse dump according to the side slope angle and the particle information.
According to a second aspect of the present application, there is provided a side slope angle measuring device of a refuse dump, the device including:
the data determination module is used for acquiring a plurality of enhanced image frames of the waste dump and particle information of particles on the surface of a soil pile of the waste dump;
the three-dimensional reconstruction module is used for performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image;
the side slope angle determining module is used for determining the side slope angle of the 3D reconstructed image;
and the landslide analysis module is used for carrying out landslide analysis processing on the refuse dump according to the side slope angle and the particle information.
According to a third aspect of the present application, there is provided a terminal comprising: the device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the side slope angle measuring method of the waste dump.
According to a fourth aspect of the present application, there is provided a computer-readable storage medium storing computer-executable instructions for performing the above-described method of measuring a side slope angle of a refuse dump.
The method has the advantages that the three-dimensional reconstruction processing is carried out on the plurality of enhanced image frames of the refuse dump to obtain the 3D reconstructed image, the refuse dump is restored through the image processing, the purpose of remotely measuring the side slope angle of the refuse dump is achieved, the cost for measuring the side slope angle of the refuse dump is reduced, the working strength is high, the measuring efficiency of the side slope angle is improved, the measuring precision of the side slope angle is improved, the problem of resource waste caused by excessive side slope angle measuring times is solved, and the safety effect of operating the refuse dump is improved; meanwhile, landslide analysis can be carried out on the refuse dump according to the side slope angle and the particle information, so that safety analysis preparation is provided for operation of the refuse dump, and the safety of the operation is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flow chart of a method for measuring a slope angle of a refuse dump according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of processing of 3D reconstructed images in a method for measuring a side slope angle of a refuse dump according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating one embodiment of obtaining a plurality of enhanced image frames and grain information according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an application system of a method for measuring a side slope angle of a refuse dump according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a slope angle measuring device of a refuse dump according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that although functional blocks are partitioned in a schematic diagram of an apparatus and a logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the partitioning of blocks in the apparatus or the order in the flowchart.
The terms referred to in this application will first be introduced and explained:
in the embodiment of the application, the dump is also called a waste rock dump, which is a place for intensively discharging mine mining waste. The refuse dump is a huge artificial loose pad body and has serious safety problems. The instability of the dump will cause mine dump disasters and major engineering accidents, which not only affect the normal production of the mine, but also cause the mine to suffer huge economic losses.
In the embodiment of the present application, the side slope angle refers to an included angle between a connecting line from a top slope line of the uppermost step to a bottom slope line of the lowermost step on a section of the vertical slope trend and a horizontal line. The smaller the side slope angle, the larger the stripping ratio. If the side slope angle of the strip mine is too steep, the side slope is deformed, damaged and slipped.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
According to an embodiment of the present application, there is provided a method of measuring a side slope angle of a refuse dump, as shown in fig. 1, the method including steps S101 to S104.
Step S101: a plurality of enhanced image frames of a dump are acquired along with particle information of soil heap surface particles of the dump.
Specifically, the plurality of enhanced image frames and the particle information can be directly sent to the server by the unmanned aerial vehicle, or can be sent to the server by a control terminal in communication connection with the unmanned aerial vehicle. The control terminal can be a mobile terminal such as a mobile phone, a tablet, a wearable device and the like, and can also be a fixed terminal such as a PC and the like.
For example, the server is in communication connection with the unmanned aerial vehicle and receives a plurality of enhanced image frames and particle information of a refuse dump uploaded by the unmanned aerial vehicle; or the control terminal is in communication connection with the unmanned aerial vehicle, and the control terminal acquires the plurality of enhanced image frames and the particle information obtained by the unmanned aerial vehicle and then sends the enhanced image frames and the particle information to the server.
Step S102: and performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image.
According to the method and the device, the plurality of enhanced images are processed through a three-dimensional reconstruction processing technology, the purpose of restoring the refuse dump according to the 3D reconstructed images is achieved, and preparation is provided for measuring the side slope angle of the refuse dump.
Step S103: a side slope angle of the 3D reconstructed image is determined.
In particular, the 3D reconstructed image may be measured using a preconfigured slope angle measurement algorithm to determine the slope angle. More specifically, the measurement algorithm is generally set as a surveying instrument. The measuring instrument can be controlled to measure the 3D reconstructed image according to a preset strategy; the slope angle of the refuse dump can be obtained by measuring according to the operation of the measuring instrument by the user.
Step S104: and carrying out landslide analysis processing on the refuse dump according to the side slope angle and the particle information.
According to the method, the purpose of remotely measuring the side slope angle of the refuse dump is achieved by performing three-dimensional reconstruction processing on a plurality of enhanced image frames to obtain the 3D reconstructed image, and the manner of restoring the refuse dump through image processing is adopted, so that the cost for measuring the side slope angle of the refuse dump is reduced, the working strength is high, the measuring efficiency of the side slope angle is improved, the measuring precision of the side slope angle is also improved, the problem of resource waste caused by excessive side slope angle measuring times is avoided, and the safety effect of operating the refuse dump is improved; meanwhile, landslide analysis can be carried out on the refuse dump according to the side slope angle and the particle information, so that safety analysis preparation is provided for operation of the refuse dump, and the safety of the operation is improved.
In some embodiments, step S102 further comprises: step S1021 and step S1022 (not shown in the figure).
Step S1021: extracting and matching feature points of the multiple enhanced image frames to obtain sparse point cloud data;
step S1022: and determining a 3D reconstruction image according to the pre-configured three-dimensional construction model and the sparse point cloud data.
In the embodiment of the application, an SIFT algorithm is adopted to extract and match the feature points of a plurality of enhanced image frames. When applied, other feature point extraction and matching algorithms can also be adopted, for example, surf (speeduprobubustfeatures), orb (improved brief), fast (features From accessed Segment test), etc. And efficiently detecting stable key point positions through feature point extraction and matching processing, thereby obtaining sparse point cloud data in a plurality of enhanced image frames.
According to the method and the device, the purpose of extracting key points of a plurality of enhanced image frames is achieved through an SIFT feature point extraction and matching algorithm, all extracted key points are combined together to be expressed as sparse point cloud data, a data base is provided for subsequent three-dimensional processing, and namely the sparse point cloud data is converted into a 3D reconstructed image.
In some embodiments, step S1022 further includes, before: calling a predefined ground auxiliary coordinate system; performing coordinate system conversion on the sparse point cloud data to obtain target system sparse point cloud data which accords with a ground auxiliary coordinate system; step S1022 further includes: and inputting the target system sparse point cloud data into the three-dimensional construction model to obtain a 3D reconstruction image.
Specifically, the ground auxiliary coordinate system may be pre-configured inside the server, or uploaded to the server by the drone.
Specifically, the sparse point cloud data is obtained by performing feature point extraction and matching processing on a plurality of enhanced image frames. Therefore, the coordinate system on which the sparse point cloud data is based is the image coordinate system. The image coordinate system is converted into a ground auxiliary coordinate system, namely the sparse point cloud data can be converted into the ground auxiliary coordinate system, so that the sparse point cloud data conforms to the ground auxiliary coordinate system, a 3D reconstructed image conforming to the ground auxiliary coordinate system can be constructed according to a pre-configured three-dimensional reconstruction model, the purpose of restoring the refuse dump is achieved, the 3D reconstructed image is measured, and the obtained side slope angle is the side slope angle of the actual refuse dump.
In some embodiments, as shown in fig. 2, step S104 further comprises: step S1041, step S1042, and step S1043.
Step S1041: determining the maximum diameter of the particles according to the particle information;
step S1042: determining a particle diameter threshold value corresponding to the slope angle based on a particle diameter threshold value corresponding to each of a plurality of pre-stored slope angles;
step S1043: and determining landslide early warning information of the refuse dump according to the maximum diameter of the particles and the threshold value of the diameter of the particles.
In the embodiment of the application, the particle information of the soil heap surface particles is used for representing the soil heap particle size of the waste dump, the diameter from the center of the waste dump and other information. In the examples of the present application, the particle diameter in the particle information is used for analysis.
Specifically, the particle information of the soil heap surface particles of the refuse dump can be uploaded to the server by the unmanned aerial vehicle, namely, the unmanned aerial vehicle processes the collected video according to the lightweight algorithm preconfigured in the unmanned aerial vehicle after carrying out video collection on the refuse dump, thereby determining a plurality of enhanced image frames and the particle information of the soil heap surface particles of the refuse dump. The unmanned aerial vehicle can simultaneously send particle information of soil heap surface particles of a plurality of enhanced image frames and a refuse dump to the server.
Specifically, the particle information of the soil heap surface particles of the refuse dump can be sent to the server by a control terminal in communication connection with the unmanned aerial vehicle. For example, control terminal control unmanned aerial vehicle carries out video acquisition to the heap of dumping to after the granule information that obtains unmanned aerial vehicle and determine, control terminal sends the granule information of the heap surface granule of dumping field to the server.
Specifically, the particle information of the particles on the soil heap surface of the refuse dump may also be obtained by processing the particles according to a plurality of enhanced image frames by the server.
Specifically, different side slope angles have different conditions under which landslide occurs. For example, when the value of the side slope angle is a1, if the maximum particle diameter of the particles on the surface of the soil heap is larger than the threshold value m1, landslide may occur; when the maximum diameter of the soil heap surface particles is greater than a threshold value m2 at a value of a2 for the side slope angle, landslide may occur. Whether this application takes place the landslide to the refuse dump through side slope angle and granule information and carries out the analysis, has reached the early warning analysis purpose to the refuse dump.
According to the embodiment of the application, landslide analysis processing is carried out on the dump through the side slope angle and the particle information, so that the cost of measuring the side slope angle of the dump is reduced, the measurement precision of the side slope angle is improved, and the safety of operation on the dump is improved.
In some embodiments, step S1043 further comprises: comparing the maximum diameter of the particle to a particle diameter threshold value; if the maximum diameter of the particles is larger than the particle diameter threshold value, determining the grade of the landslide risk corresponding to the maximum diameter of the particles according to the diameter range corresponding to each of the plurality of pre-stored grades of the landslide risk; and determining landslide early warning information of the refuse dump according to the landslide risk grade corresponding to the maximum diameter of the particles.
In the examples of the present application, the particle diameter threshold value is used to characterize the minimum particle size at which landslide occurs.
In particular, a particle size detection algorithm may be employed to measure the maximum diameter of the particles.
Specifically, the maximum diameter of the particle may be compared with a particle size threshold value, and the landslide analysis process may be performed according to the comparison result.
When the method is applied, if the maximum diameter of the particles is smaller than the particle diameter threshold value, the corresponding landslide early warning information can be prompt information without landslide danger.
Specifically, under conditions where landslide may occur, different landslide hazard levels may be preset. For example, grade 1 landslide hazard, grade 2 very hazard, grade 3 landslide hazard, etc. For another example, the range of diameters for a grade 1 landslide hazard is (D1, D2); the diameter range corresponding to the grade 2 landslide hazard is [ D1, D2], and if the maximum diameter of the particles is (D1, D2), landslide early warning information is determined according to the grade 1 landslide hazard. The purpose of improving the analysis precision of landslide analysis is achieved through the diameter ranges which are stored in advance and correspond to different levels of landslide risks.
In one embodiment, before step S102, the method further includes:
and carrying out image denoising processing on the plurality of enhanced image frames.
The embodiment of the application reduces the noise in the digital image through image denoising processing.
Specifically, the plurality of enhanced image frames acquired by the server are sent by the unmanned aerial vehicle or the control terminal in communication connection with the unmanned aerial vehicle, so that the transmission process may be often influenced by interference of the imaging device and external environmental noise, and the like, and therefore, through denoising processing, the image quality of the plurality of key image frames is improved, so that the step S102 is executed subsequently.
In some embodiments, as shown in fig. 1, the method further comprises: step S105 and step S106 (not shown in the figure),
step S105: generating first detection information of a refuse dump according to the 3D reconstruction image, the side slope angle and the landslide early warning information;
step S106: the first detection information is sent to a preconfigured first terminal.
Specifically, the server side realizes the purpose of sending the first detection information to the first terminal through the communication with the first terminal, so that a monitoring user can conveniently check the analysis result of the dump through the first terminal, and the operation and detection of the dump are adjusted.
In the above embodiment, as shown in fig. 1, the method further includes: step S107, step S108 and step S109 (not shown in the figure),
step S107: determining positioning information of a refuse dump;
step S109: generating second detection information of the refuse dump according to the positioning information, the 3D reconstruction image, the side slope angle and the landslide early warning information;
step S109: and sending the second detection information to a pre-configured second terminal.
Specifically, the positioning information may include position information of a dump, and the position information may include longitude and latitude, height of a dump, and the like. More specifically, the positioning information may be configured in advance at the server, or the positioning information may be sent to the server by the drone.
The embodiment of the application realizes the purpose of determining the second detection information according to the position information of the refuse dump, has the effect of increasing the information contained in the second detection information, and further facilitates the viewing and analysis of the second terminal user.
It should be noted that, the first terminal and the second terminal may be electronic devices such as a mobile phone, a tablet, a wearable device, and a PC, which are not listed here.
In the above embodiment, the plurality of enhanced image frames and the particle information of the particles on the surface of the soil heap of the refuse dump, which are acquired by the server, may be determined by referring to the image processing method of the refuse dump slope as shown in fig. 3. The method comprises the following steps: step S301 to step S305.
Step S301: and determining the video to be processed of the refuse dump shot by the unmanned aerial vehicle.
Specifically, the unmanned aerial vehicle can carry out video shooting according to preset sampling frequency.
Specifically, the unmanned aerial vehicle typically performs video shooting of the refuse dump while flying around the refuse dump, thereby shooting the refuse dump from 360 ° angles.
Specifically, parameter configuration can be carried out on the unmanned aerial vehicle through the mobile terminal, and attitude parameters, height parameters and the like when the unmanned aerial vehicle carries out video shooting are configured.
Step S302: a plurality of key image frames of a video to be processed are extracted.
In the embodiment of the present application, the key image frame is used to refer to an image screened out for image processing.
Specifically, the number of key image frames may be set in advance.
Step S303: and carrying out image enhancement processing on the plurality of key image frames to obtain a plurality of enhanced image frames.
Specifically, the influence of noise and the like on the image due to the photographing apparatus and the surrounding environment is taken out by the image enhancement processing.
In particular, a contrast stretching image enhancement algorithm may be employed to perform image enhancement processing on a plurality of key image frames. For example, assuming that the contrast stretching image enhancement function is T, then h (u, v) is T [ f (u, v) ], where f (u, v) is the image before enhancement, h (u, v) is the image after enhancement, and T is the pixel coordinate of the image after the image enhancement algorithm employing the contrast stretching image enhancement algorithm, (μ, v).
Specifically, the image enhancement processing generally includes image smoothing processing and image denoising processing.
Step S304: and determining particle information of particles on the surface of the soil heap of the refuse dump according to the plurality of enhanced image frames.
In the embodiment of the application, the particle information of the soil heap surface particles is used for representing the size of the soil heap surface particles, the position relation with the center of the waste dump and other information.
Step S305: and sending the plurality of enhanced image frames and the particle information to a preset server.
Specifically, the unmanned aerial vehicle can process a plurality of enhanced image frames and soil heap surface particle information in a sparse coding mode, and send the processed result to the server side in a wireless communication transmission mode.
The embodiment of the application carries out video shooting to the refuse dump through unmanned aerial vehicle, thereby handle the video of shooing, obtain a plurality of key image frames, carry out image enhancement to a plurality of key image frames and handle, this kind draws a plurality of key image frames and carries out image enhancement processing mode, the effect that improves image quality has not only been played, image quantity that needs carry out image processing has still been reduced, thereby the speed of confirming the granule information of soil heap surface granule has been accelerated, and then image and granule information after will strengthening the processing send to the server, rely on the server to carry out 3D reconfiguration processing and predictive analysis, the purpose that has reduced unmanned aerial vehicle and carry out the expense of image processing has been reached.
Through the steps S301 to S305, data to be uploaded by the unmanned aerial vehicle, that is, the plurality of enhanced image frames and the particle information acquired by the server in the step S101 are obtained, so that the server performs processing.
In some embodiments, step S302 further comprises:
and determining a plurality of key image frames of the video to be processed based on a preset time interval.
According to the embodiment of the application, the images are extracted from the to-be-processed video with a certain time interval, the video does not need to be processed and analyzed, the speed of determining the key image frame is increased, and the calculation cost of the unmanned aerial vehicle is saved.
Specifically, the video recording duration may be preset, that is, the video is recorded again at a certain interval. For example, a video may be recorded for a period of time generally 10 seconds, and then the shooting of a group of videos is completed without 10 seconds.
In order to further explain the method for measuring the slope angle of the dump provided by the present application, the following description is made in detail with reference to the application system shown in fig. 4.
The system comprises a refuse dump 100, a drone 200, a server 300 and a terminal 400. During application, the unmanned aerial vehicle 200 takes 360-degree video shots around the earth discharge field 100. When the unmanned aerial vehicle flies around, the camera of the unmanned aerial vehicle and the refuse dump soil heap keep the same horizontal line as far as possible, the camera keeps the same distance in the flying around process, and high-definition pictures of the refuse dump soil heap are shot according to angle requirements in the flying around process. The unmanned aerial vehicle extracts key image frames in the video through an embedded lightweight algorithm and carries out preprocessing of image smoothing and image enhancement; meanwhile, the particle size of the soil heap surface in the key image frame is analyzed and judged, because when the particle size is larger, the internal friction is larger, the cohesive force is reduced, and the surface particles are infiltrated to easily cause landslide.
The lightweight algorithm embedded in the drone 200 may perform image smoothing processing for T by using a contrast stretching image enhancement function, that is, h (u, v) ═ T [ f (u, v) ], where f (u, v) is an image before enhancement, h (u, v) is an image after enhancement, and T is a pixel coordinate of the image in which the image enhancement algorithm uses a contrast stretching image enhancement algorithm, (μ, v).
When the unmanned aerial vehicle 200 measures the particle information of the particles on the surface of the soil heap, the particle size and the shape are mainly extracted. Feature extraction on an image requires two steps: labeling and feature extraction. The labeling adopts a watershed algorithm and extracts features from the particles. The statistics of the pixel points can obtain the number of pixel points of the particles, measure the size of the particles and calibrate the particles. The Feret diameter of the particles is measured, typically the maximum Feret diameter indicates the shape and size of the particles. And (3) obtaining coordinates of all edge points of one particle through contour tracking, finding out edge points which are connected with the gravity center points and are overlapped with the edge points in the real direction, and solving the minimum value and the maximum value in the maximum projection of all axes. I.e. the shortest Feret diameter and the longest Feret diameter, to infer from this data whether the particle size of the surface would cause a landslide.
After the unmanned aerial vehicle determines the particle information and the plurality of enhanced image frames, the unmanned aerial vehicle sends the particle information and the plurality of enhanced image frames to the server 300. After the acquisition, the server 300 processes the plurality of enhanced image frames.
The server 300 searches for a set of homologous points for three-dimensional reconstruction of the image for subsequent solution of the basis matrix and solution of the three-dimensional coordinates. Specifically, an SIFT algorithm can be used as a feature point matching algorithm, the algorithm is a feature detection method of a invariant technology, and local image features which keep image rotation, translation, scaling and affine transformation unchanged are searched in different scale spaces. The image can be subjected to scale transformation by adopting a Gaussian convolution function, so that an expression sequence of the image in different scale spaces is obtained, and the expression sequence is specifically expressed as follows:
assuming that the function of the image is denoted as P (x, y), the image scale space function S (x, y, τ) is generated by convolving a scale-variable gaussian function G (x, y, τ) with the input image P (x, y):
S(x,y,τ)＝G(x,y,τ)*I(x,y)；
where x in the equation denotes convolution, S denotes scale space, (x, y) denotes a point on the image 1, and τ is a scale factor, different scale spaces can be established by taking different values for τ.
In order to efficiently detect stable keypoint locations in scale space, the extremum can be found by convolving the image with the gaussian difference equation form of scale space, i.e. the difference between two adjacent scales separated by a constant coefficient k, denoted by D (x, y, τ):
D(x,y,τ)＝(G(x,y,kτ)-G(x,y,τ))*I(x,y)＝L(x,y,kτ)-L(x,y,τ) (1)。
at this time, the obtained extreme point is an extreme point in a discrete space, a ternary quadratic function is further required to be fitted to determine the position and the scale of the accurate extreme point, and a second-order taylor series expansion of the DoG function at the extreme point obtained in the previous step is used as a fitting function as follows:
for the
Are susceptible to noise interference and will therefore generally be
Points less than an empirical value are excluded, and the general empirical value is set as: 0.04. in addition, because the algorithm has the characteristic of obvious edge response, the method for eliminating the response points with unstable edges is as follows:
let α be the eigenvalue with a large H matrix and β be the eigenvalue with a small H matrix, which respectively represent the gradient in the x and y directions, and α -r β have the following formula:
when the two eigenvalues are equal, the above equation is minimal, i.e. the gradient value is larger in one direction as r increases, while the gradient is smaller in the other direction, just reflecting edge effects.
If the feature point satisfies Tr (H)2)/Det(H)<(r+1)2And r is 10, the edge response points can be eliminated, and the final characteristic points can be obtained.
After the feature point extraction is completed, a reference direction needs to be allocated to the feature point so that the feature point has rotation invariance, which is specifically as follows:
θ(x,y)＝tan-1((L(x,y+1)-L(x,y-1)/L(x+1),y-L(x-1,y)))(10)
in the formula, m (x, y) is the modulus theta (x, y) of the gradient and is the direction, L is the scale of the space where the characteristic point is located, the calculation range is the pixel point with the field size of 3 tau, and tau is the scale of the space where the characteristic point is located.
The three-dimensional coordinates are resolved through the process, sparse three-dimensional information is obtained, then sparse point cloud data are generated according to the sparse three-dimensional information, and the sparse point cloud data are reconstructed to obtain a 3D reconstructed image. Because the unmanned aerial vehicle has the internal coordinate point of the shooting direction in each shooting direction, the three-dimensional coordinates of the space points can be calculated according to the coordinate information and other parameters, and then sparse point cloud data are reconstructed.
After the server 300 reconstructs the 3D reconstructed image, the slope angle of the 3D reconstructed image is determined, and the landslide warning information is determined according to the slope angle and the particle information. Finally, determining first detection information according to the side slope angle, the particle information and the landslide early warning information; or determining the second detection information according to the positioning information, the side slope angle, the particle information and the landslide warning information, and sending the first detection information or the second detection information to the terminal 400.
Yet another embodiment of the present application provides a slope angle measuring apparatus of a refuse dump, as shown in fig. 5, the apparatus 50 including: a data determination module 501, a feature extraction module 502, an image reconstruction module 503, a side slope angle determination module 504, and a landslide analysis module 505.
A data determining module 501, configured to obtain a plurality of enhanced image frames of a dump and particle information of particles on a soil heap surface of the dump;
a three-dimensional reconstruction module 502, configured to perform three-dimensional reconstruction processing on the multiple enhanced image frames to obtain a 3D reconstructed image;
a side slope angle determination module 503, configured to determine a side slope angle of the 3D reconstructed image;
and the landslide analysis module 504 is used for carrying out landslide analysis processing on the refuse dump according to the side slope angle and the particle information.
The method has the advantages that the three-dimensional reconstruction processing is carried out on the plurality of enhanced image frames of the refuse dump to obtain the 3D reconstructed image, the refuse dump is restored through the image processing, the purpose of remotely measuring the side slope angle of the refuse dump is achieved, the cost for measuring the side slope angle of the refuse dump is reduced, the working strength is high, the measuring efficiency of the side slope angle is improved, the measuring precision of the side slope angle is improved, the problem of resource waste caused by excessive side slope angle measuring times is solved, and the safety effect of operating the refuse dump is improved; meanwhile, landslide analysis can be carried out on the refuse dump according to the side slope angle and the particle information, so that safety analysis preparation is provided for operation of the refuse dump, and the safety of the operation is improved.
Further, the three-dimensional reconstruction module includes: a point cloud data extraction sub-module and a 3D reconstruction sub-module (not shown in the figure).
And the point cloud data extraction submodule is used for extracting and matching the characteristic points of the plurality of enhanced image frames to obtain sparse point cloud data.
And the 3D reconstruction submodule is used for determining a 3D reconstruction image according to the pre-configured three-dimensional construction model and the sparse point cloud data.
Further, before the step of performing the feature point extraction and matching process on the plurality of enhanced image frames, the apparatus further includes:
and an image denoising module (not shown) for performing image denoising processing on the plurality of enhanced image frames.
Further, before determining the 3D reconstructed image according to the preconfigured three-dimensional construction model and the sparse point cloud data, the 3D reconstruction sub-module includes: a coordinate system determining unit and a coordinate system converting unit; and the 3D reconstruction submodule includes: a three-dimensional building unit (not shown in the figure).
A coordinate system determination unit for retrieving a predefined ground assistance coordinate system.
And the coordinate system conversion unit is used for carrying out coordinate system conversion on the sparse point cloud data to obtain target system sparse point cloud data which accords with the ground auxiliary coordinate system.
And the three-dimensional construction unit is used for inputting the target system sparse point cloud data into the three-dimensional construction model to obtain a 3D reconstruction image.
Further, the landslide analysis module comprises: a particle size determination sub-module, a particle threshold determination sub-module, and an early warning information determination sub-module (not shown).
The particle size determining submodule is used for determining the maximum diameter of the particles according to the particle information;
the particle threshold value determining submodule is used for determining a particle diameter threshold value corresponding to the side slope angle based on the pre-stored particle diameter threshold values corresponding to the side slope angles;
and the early warning information determining submodule is used for determining the landslide early warning information of the refuse dump according to the maximum diameter of the particles and the threshold value of the diameter of the particles.
Further, the early warning information determination submodule includes: a diameter comparison unit, a risk determination unit and an early warning information determination unit (not shown in the figure).
And the diameter comparison unit is used for comparing the maximum diameter of the particles with a particle diameter threshold value.
And the risk determining unit is used for determining the grade of the landslide risk corresponding to the maximum diameter of the particles according to the diameter range corresponding to each of the plurality of pre-stored grade of the landslide risk if the maximum diameter of the particles is larger than the threshold value of the particle diameter.
And the early warning information determining unit is used for determining the landslide early warning information of the refuse dump according to the landslide risk level corresponding to the maximum diameter of the particles.
Further, the apparatus further comprises: a first detection information determining module and a first detection information sending module (not shown in the figure).
The first detection information determining module is used for generating first detection information of the refuse dump according to the 3D reconstruction image, the side slope angle and the landslide early warning information;
and the first detection information sending module is used for sending the first detection information to the pre-configured first terminal.
Further, the apparatus further comprises: a positioning information determining module, a second detection information determining module and a second detection information sending module (not shown in the figure).
The positioning information determining module is used for determining the positioning information of the refuse dump;
the second detection information determining module is used for generating second detection information of the refuse dump according to the positioning information, the 3D reconstruction image, the side slope angle and the landslide early warning information;
and the second detection information sending module is used for sending the second detection information to a pre-configured second terminal.
The device for measuring the side slope angle of the refuse dump of the embodiment can execute the method for measuring the side slope angle of the refuse dump provided by the embodiment of the application, the implementation principle is similar, and the description is omitted here.
Another embodiment of the present application provides a terminal, including: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the side slope angle measuring method of the waste dump.
In particular, the processor may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. A processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, a DSP and a microprocessor, or the like.
In particular, the processor is coupled to the memory via a bus, which may include a path for communicating information. The bus may be a PCI bus or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.
The memory may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Optionally, the memory is used for storing codes of computer programs for executing the scheme of the application, and the processor is used for controlling the execution. The processor is configured to execute application program codes stored in the memory to implement the actions of the slope angle measuring device of the refuse dump provided by the embodiment shown in fig. 5.
Yet another embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for performing the above-described method of measuring a side slope angle of a refuse dump shown in fig. 1 or 2.
The above-described embodiments of the apparatus are merely illustrative, and the units illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for measuring a side slope angle of a refuse dump is characterized by comprising the following steps:
acquiring a plurality of enhanced image frames of a waste dump and particle information of particles on the surface of a soil pile of the waste dump;
performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image;
determining a side slope angle of the 3D reconstructed image;
and carrying out landslide analysis processing on the refuse dump according to the side slope angle and the particle information.
2. The method according to claim 1, wherein the step of performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image comprises:
extracting and matching feature points of the plurality of enhanced image frames to obtain sparse point cloud data;
and determining the 3D reconstruction image according to a pre-configured three-dimensional construction model and the sparse point cloud data.
3. The method of claim 2,
before the step of determining the 3D reconstructed image from the preconfigured three-dimensional construction model and the sparse point cloud data, the method further comprises:
calling a predefined ground auxiliary coordinate system;
performing coordinate system conversion on the sparse point cloud data to obtain target system sparse point cloud data which accords with the ground auxiliary coordinate system;
the step of determining the 3D reconstructed image according to the preconfigured three-dimensional construction model and the sparse point cloud data includes:
and inputting the target system sparse point cloud data into the three-dimensional construction model to obtain the 3D reconstruction image.
4. The method of claim 1, wherein said step of landslide analysis processing of said dump based on said slope angle and said particle information comprises:
determining the maximum diameter of the particles according to the particle information;
determining a particle diameter threshold value corresponding to the side slope angle based on a pre-stored particle diameter threshold value corresponding to each of a plurality of side slope angles;
and determining landslide early warning information of the refuse dump according to the maximum diameter of the particles and the threshold value of the diameter of the particles.
5. The method of claim 4, wherein the step of determining landslide warning information for the dump based on the maximum diameter of the particle and the threshold particle diameter comprises:
comparing the particle maximum diameter to the particle diameter threshold value;
if the maximum diameter of the particles is larger than the particle diameter threshold value, determining a landslide risk level corresponding to the maximum diameter of the particles according to the diameter range corresponding to each of a plurality of pre-stored landslide risk levels;
and determining landslide early warning information of the refuse dump according to the landslide risk grade corresponding to the maximum diameter of the particles.
6. The method of claim 4, further comprising:
generating first detection information of the refuse dump according to the 3D reconstruction image, the side slope angle and the landslide early warning information;
and sending the first detection information to a pre-configured first terminal.
7. The method of claim 4, further comprising:
determining positioning information of the refuse dump;
generating second detection information of the refuse dump according to the positioning information, the 3D reconstruction image, the side slope angle and the landslide early warning information;
and sending the second detection information to a pre-configured second terminal.
8. A side slope angle measuring device of a refuse dump, characterized by comprising:
the data determination module is used for acquiring a plurality of enhanced image frames of a waste dump and particle information of particles on the surface of a soil pile of the waste dump;
the three-dimensional reconstruction module is used for performing three-dimensional reconstruction processing on the plurality of enhanced image frames to obtain a 3D reconstructed image;
a side slope angle determination module for determining a side slope angle of the 3D reconstructed image;
and the landslide analysis module is used for carrying out landslide analysis processing on the refuse dump according to the side slope angle and the particle information.
9. A terminal, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method of any of claims 1 to 7.
10. A computer-readable storage medium storing computer-executable instructions for performing the method of any one of claims 1 to 7.
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