Methods, equipment, media and products for monitoring subsidence of working faces in mining areas without control points

Abstract

The present application discloses a method, equipment, medium and product for monitoring the settlement of working faces in mining areas without control points, and relates to the technical field of mining subsidence. The method includes: using satellites to monitor the settlement of small deformations at the edge of a deformed basin; for large deformations in the center of a deformed basin, when natural feature points exist, monitoring its settlement through a ground laser scanner, and when natural feature points do not exist, deploying artificial feature points and monitoring through leveling. The present application does not need to use control points outside the mining influence range as the starting point for leveling, thereby saving a lot of manpower and material resources, and only uses ground laser scanners to measure areas where natural feature points exist, rather than laying ground laser scanners over a large area, thereby reducing the monitoring workload and greatly improving the monitoring efficiency. When natural feature points do not exist, monitoring is combined with leveling. The present application can achieve large-area precise measurement at a low cost.

Description

Technical Field

[0001] The present application relates to the technical field of mining subsidence, and in particular to a method, equipment, medium and product for monitoring subsidence of a working face in a mine area without a control point. Background Art

[0002] Coal resources account for as much as 76% and 66% of the production and consumption of the primary energy structure. The large deformation caused by high-intensity, large-scale and rapid coal mining has caused serious damage to surface facilities and the ecological environment, and is the main factor affecting the safety and comfort of production and life of surrounding residents. New mining processes, such as delamination grouting and "mining-filling-retention" coordinated mining, have a control effect on deformation. However, such methods have limited application conditions and add additional production burdens. Fast settlement speed, large deformation scale and wide impact range are still the norm in coal mining. Therefore, it is of great significance to monitor the settlement of mining areas, provide guidance for mining production, and prevent and control damage. Summary of the invention

[0003] The purpose of this application is to provide a method, equipment, medium and product for monitoring the subsidence of a working face in a mining area without control points, which can realize accurate measurement over a large area at a low cost.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a method for monitoring subsidence of a working face in a mining area without control points, the method comprising:

[0006] Obtain satellite monitoring data and ground 3D laser scanning data of the monitoring area;

[0007] Calculate the LOS deformation of the edge of the deformation basin based on the satellite monitoring data;

[0008] Calculating the subsidence value of the edge of the deformation basin according to the LOS deformation;

[0009] Determine the location of natural feature points in the deformation basin according to the ground three-dimensional laser scanning data to obtain the location of the feature points; the natural feature points include: plane feature points, building feature points and tree feature points;

[0010] Determine the position of the characteristic point as the installation position of the ground laser scanning device;

[0011] Acquiring three-dimensional point cloud data using a ground laser scanning device placed at a designated location; the designated location is determined according to the installation location;

[0012] Calculate the settlement data at the position of the feature point according to the three-dimensional point cloud data;

[0013] The positions in the deformation basin where no natural feature points exist are determined as artificial feature points for leveling measurement; the artificial feature points for leveling measurement are used for monitoring the settlement of the working face by means of leveling measurement.

[0014] Optionally, calculating the LOS deformation of the edge of the deformed basin according to the satellite monitoring data specifically includes:

[0015] Registering and resampling two images of different dates in the satellite monitoring data to obtain single-view complex image data;

[0016] Conjugate multiply the complex matrices of the single-view complex image data to obtain an initial interference pattern;

[0017] The initial interference pattern is phase unwrapped to obtain LOS deformation.

[0018] Optionally, calculating the subsidence value of the edge of the deformed basin according to the LOS deformation specifically includes:

[0019] The subsidence value of the edge of the deformation basin is calculated according to a calculation formula, and the calculation formula is:

[0020] W=LOS / cos(θ INC );

[0021] Where W is the settlement, LOS represents the LOS deformation, θ INC represents the satellite's angle of incidence.

[0022] Optionally, determining the feature point position as the installation position of a terrestrial laser scanning device specifically includes:

[0023] Determine the position of the characteristic point as the installation position of the ground laser scanning device;

[0024] The installation positions of a plurality of ground laser scanning devices are sequentially determined in a straight line at intervals of a preset distance in the installation position.

[0025] Optionally, determining a position in the deformed basin where no natural feature point exists as an artificial feature point for leveling measurement specifically includes:

[0026] Acquire the starting and ending positions of the terrestrial laser scanning instrument array, and determine the starting and ending positions as the starting positions of the leveling measurement; the terrestrial laser scanning instrument array includes a plurality of terrestrial laser scanning instruments;

[0027] In a position in the deformation basin where there are no natural feature points, artificially laid marks for leveling measurement are set from the starting position along a first direction and a second direction respectively; the first direction is the direction from the starting position to the center of the deformation basin; the second direction is the direction from the starting position to the deformation judgment edge.

[0028] Optionally, acquiring three-dimensional point cloud data using the terrestrial laser scanning device; and calculating the settlement data at the position of the feature point according to the three-dimensional point cloud data specifically includes:

[0029] Continuously acquiring three-dimensional point cloud data using the terrestrial laser scanning instrument;

[0030] Calculate coordinate data according to the three-dimensional point cloud data;

[0031] The corresponding coordinate data in the two measurements are subtracted to obtain the settlement data at the feature point position.

[0032] Optionally, calculating coordinate data according to the three-dimensional point cloud data specifically includes:

[0033] For the plane feature points in the three-dimensional point cloud data:

[0034] Separating ground point cloud data from the three-dimensional point cloud data using a cloth filtering algorithm;

[0035] Constructing a rectangular grid according to the ground point cloud data;

[0036] Obtaining the coordinates of the plane feature points using an inverse distance interpolation method according to the rectangular grid;

[0037] For the building feature points in the three-dimensional point cloud data:

[0038] Use the target ball to obtain the coordinates of the building's feature points;

[0039] For the tree feature points in the three-dimensional point cloud data:

[0040] Obtain point cloud data of tree feature point positions in three-dimensional point cloud data;

[0041] Calculating the plane coordinates of the tree feature point positions by the least square method according to the point cloud data of the tree feature point positions;

[0042] The plane coordinates are interpolated by inverse distance to obtain the elevation coordinates of the tree feature point positions.

[0043] In a second aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-described methods for monitoring subsidence of a working face in a mine without control points.

[0044] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for monitoring settlement of a working face in a mine area without control points.

[0045] In a fourth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned methods for monitoring subsidence of a working face in a mine area without control points.

[0046] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0047] The present application provides a method, equipment, medium and product for monitoring settlement of working faces in mining areas without control points, using satellites to monitor settlement of small deformations at the edge of deformation basins; for large deformations in the center of deformation basins, when natural feature points exist, ground laser scanning instruments are used to monitor settlement, and when natural feature points do not exist, artificial feature points are laid out and monitored by leveling. The present application does not need to use control points outside the mining influence range as the starting point for leveling, thereby saving a lot of manpower and material resources, and only uses ground laser scanning instruments to measure areas where natural feature points exist, rather than laying ground laser scanning instruments over a large area, thereby reducing the monitoring workload and greatly improving the monitoring efficiency. When natural feature points do not exist, monitoring is combined with leveling. The present application can achieve large-area precise measurement at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of a flow chart of a method for monitoring subsidence of a working face in a mining area without control points provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of natural feature point types provided in an embodiment of the present application;

[0051] Figure 3A schematic diagram of the TLS instrument installation provided in one embodiment of the present application;

[0052] Figure 4 A schematic diagram of the layout of artificial markings for the leveling starting point provided in one embodiment of the present application;

[0053] Figure 5 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] Traditional mining subsidence monitoring is mainly achieved through leveling observations; usually, observation lines need to be laid out along the direction and inclination of the working face. This method has high observation accuracy, but it is necessary to lay out the observation lines starting from the control points outside the mining influence range. This requires a lot of manpower and material resources, and it is difficult to preserve it intact for a long time. In recent years, new measurement technologies represented by interferometric synthetic aperture radar (InSAR) and terrestrial laser scanning (TLS) have been applied to monitoring.

[0056] InSAR obtains surface deformation information or separates surface deformation through interference processing. Differential interferometric synthetic aperture radar (DInSAR), as an extension of InSAR, is a common and mature method for monitoring deformation in mining areas. However, the incoherence caused by large deformation gradients makes the obtained LOS deformation in the non-edge area of ​​the mining impact range very different from the true value. With the development of light detection and ranging, TLS can obtain high-precision deformation and is almost unaffected by the size of the deformation gradient. In the monitoring of mining settlement, its characteristics are limited range of substation scanning and single-station scanning. Although multiple station installations make it applicable to a large range of scenes, it is necessary to combine feature points when obtaining mining settlement, which greatly limits its measurement range. Existing monitoring methods have their own advantages and limitations. Combining the characteristics of measurement data to obtain accurate deformation of mining areas is a hot spot and difficulty in current research. This application proposes a method for monitoring mining settlement without control points by integrating multi-source data.

[0057] The present application provides a method for monitoring settlement of mining areas without control points by fusing multi-source data, using DInSAR to monitor settlement of small deformations at the edge of a deformed basin; for large deformations in the center of a deformed basin, when natural feature points exist, TLS is used to monitor settlement, and when natural feature points do not exist, artificial feature points are deployed and monitored by leveling. This method does not require leveling starting from control points outside the mining influence range, and for areas where natural feature points exist, TLS is used for measurement, thereby reducing the monitoring workload and greatly improving the monitoring efficiency.

[0058] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0059] In an exemplary embodiment, Figure 1 As shown, a method for monitoring subsidence of a working face in a mining area without a control point is provided, comprising:

[0060] S1. Obtain satellite monitoring data and ground 3D laser scanning data of the monitoring area.

[0061] In this embodiment, SAR images (satellite monitoring data) covering the mining area during the working face recovery period are obtained. At the edge of the deformation basin, the LOS deformation in the area is monitored by DInSAR, and the subsidence value is separated from the LOS deformation.

[0062] S2. Calculate the LOS deformation of the edge of the deformation basin according to the satellite monitoring data.

[0063] After obtaining a suitable SAR image interferometer pair, the image with an earlier date is used as the main image, and the image with a later date is used as the auxiliary image. The auxiliary image is registered with the main image and resampled to the same coordinate space to complete the registration and resampling.

[0064] After the above registration, the complex matrix of the primary and secondary image SLC (Single Look Complex) data is conjugate multiplied to obtain the initial interference map. The reference ellipsoid phase and terrain phase are removed from the interference map, and filtering is performed to weaken the noise phase. Finally, the LOS deformation is obtained after phase unwrapping.

[0065] The position of the deformation basin and the position of the edge of the deformation basin in this embodiment are determined by those skilled in the art based on experience. The position of the deformation basin can be determined in combination with the working surface during geological mining. Among them, the edge of the deformation basin is determined in combination with the main influence radius R of mining, and the portion beyond 0.4R from the influence center point can be determined as the edge of the deformation basin. The size of the main influence radius can be determined based on experience.

[0066] S3. Calculate the subsidence value of the edge of the deformation basin according to the LOS deformation.

[0067] According to the LOS projection principle of DInSAR, the relationship between LOS deformation and subsidence and horizontal movement can be expressed as formula (1). The north-south and east-west horizontal movement can be ignored, and the calculation formula for subsidence calculated from LOS deformation is shown in formula (2).

[0068]

[0069] Where W is the settlement; U NS , U WE are horizontal movement in north-south and east-west directions respectively; θ INC ,θ FLI are the incident angle and azimuth of the satellite respectively; LOS means the deformation in the LOS direction.

[0070] W=LOS / cos(θ INC ). (2)

[0071] S4. Determine the positions of natural feature points in the deformation basin according to the ground three-dimensional laser scanning data to obtain the positions of the feature points; the natural feature points include: plane feature points, building feature points and tree feature points.

[0072] like Figure 2 As shown in Figure 1, natural feature points are defined as the following three categories: (1) grid points generated from ground point clouds in ground 3D laser scanning data, i.e., plane feature points; (2) doors, windows, and wall corners of brick-concrete buildings, i.e., building feature points; and (3) the center of the cross section of a tree trunk (i.e., a tree feature point). Figure 2 (a) in the figure represents a plane feature point. Figure 2 (b) in the figure represents the building feature points. Figure 2 (c) in the figure represents a tree feature point. Generally speaking, the plane feature point in this embodiment can be understood as a place where bare flat land exists, the building feature point can be understood as a place where a building exists, and the tree feature point can be understood as a place where a tree exists.

[0073] As an optional implementation, in this embodiment, the approximate positions of the above-mentioned natural feature points in the deformation basin are first observed by human eyes, and then the ground three-dimensional laser scanning data near these approximate positions are obtained to obtain the specific positions.

[0074] S5. Determine the position of the feature point as the installation position of the ground laser scanning device.

[0075] In this embodiment, the feature point existence area is set as the TLS instrument (terrestrial laser scanning instrument) installation position, which is installed in a straight line at intervals of 100 meters, and more than 4 target balls are arranged near the terrestrial laser scanning instrument for coordinate conversion. Figure 3 .

[0076] For the continuous TLS instrument installation positions, the one farthest from the center of the deformation basin is regarded as the starting installation position, and the one closest to the center is regarded as the ending installation position. Artificial feature points are arranged at the starting and ending installation positions. In order to facilitate the ground laser scanning instrument to obtain the coordinates of the artificial feature points, a target ball should be installed above them, see Figure 4 .

[0077] S6. Acquire three-dimensional point cloud data using a ground laser scanning device placed at a designated position; the designated position is determined according to the installation position.

[0078] S7. Calculate the settlement data at the position of the feature point according to the three-dimensional point cloud data.

[0079] After the TLS instrument measurement is completed, the target sphere coordinates are obtained using the rapid positioning technology, and the target sphere coordinates are converted to obtain the three-dimensional point cloud data in the geodetic coordinate system. In order to facilitate subsequent processing, the data is spliced, denoised, and resampled.

[0080] Based on the above three-dimensional point cloud data, the ground point cloud is separated by the cloth filter algorithm, a rectangular grid is constructed, and the coordinates of the plane feature points are obtained by the inverse distance interpolation method, see formula (3).

[0081] For the building feature points, the three-dimensional coordinates are manually selected multiple times and the average is taken. The coordinates of the building feature points can be obtained manually using a target ball.

[0082] For tree feature points, we manually select the point clouds of electric poles and tree trunks perpendicular to the ground, and solve equation (4) by the least squares method to obtain the plane coordinates. The elevation coordinates are obtained by performing inverse distance interpolation on the plane coordinate positions using equation (3).

[0083] In two consecutive measurement periods, the settlement can be calculated by subtracting the coordinates of the feature points with the same name according to formula (5).

[0084]

[0085] In the formula, Z GP is the elevation set of ground points in the neighborhood of the grid points; Dis is the distance set from these ground points to the grid points.

[0086] (X TP -X) 2 +(Y TP -Y)2 =R 2 ; (4)

[0087] Where (X, Y) is the plane coordinate of the center of the cross section of the tree; (X TP , Y TP ) is the plane coordinate set of the trunk points.

[0088] W(X,Y)=Z Sec -Z Fir ; (5)

[0089] In the formula, Z Fir , Z Sec They are the elevation coordinates of the feature points of the first and second phases respectively, and W(X, Y) represents the settlement value.

[0090] Generally speaking, three-dimensional point cloud data is a bunch of three-dimensional coordinates. There are three types of natural feature points. After calculating the three-dimensional coordinates, the difference between the z values ​​of the three-dimensional coordinates of the two adjacent feature points with the same name is the settlement value.

[0091] This step mainly involves selecting the area with natural feature points in the center of the deformation basin, determining the location of the TLS measuring instrument, and arranging artificial feature points at the starting and ending locations. After the scanning is completed, the settlement values ​​of the natural feature points and the coordinates of the artificial feature points are extracted.

[0092] The deployment of artificial feature points is to drive nails into the ground as feature points, and measure the coordinates of the artificial feature points through leveling observation. However, leveling observation requires a starting point, and in this embodiment, the starting point is deployed in the area where the feature points exist (it does not need to be deployed outside the deformation basin, because the range from the edge of the deformation basin is very large and the deformation is small, so DInSAR can be used for monitoring).

[0093] S8. Determine the positions in the deformation basin where no natural feature points exist as artificial feature points for leveling measurement; the artificial feature points for leveling measurement are used to monitor the settlement of the working face by means of leveling measurement.

[0094] This step mainly involves laying out artificial markers for leveling in the center of the deformation basin where there are no natural feature points, taking the artificial feature points determined in the TLS scan as the starting point, and supplementing the settlement of the mining area through leveling. Specifically, it includes:

[0095] For the starting and ending positions of the TLS instrument, when the artificial feature point is set on the bare surface, the three-dimensional coordinates can be manually selected from the three-dimensional point cloud data obtained by scanning. When the setting is covered by low vegetation, the plane coordinates of the target ball can be used as its plane coordinates, and the elevation coordinates can be obtained by inverse distance weighted interpolation based on the plane feature points in the neighborhood using formula (3).

[0096] Taking the above-mentioned artificial feature points as the starting points, artificial leveling marks are laid out at intervals of 30m towards the center and edge of the deformation basin, and leveling observation is used to monitor the subsidence of the area without natural feature points in the center of the deformation basin.

[0097] This embodiment provides a method for monitoring settlement of working faces in mining areas without control points, using satellites to monitor settlement of small deformations at the edge of a deformed basin; for large deformations in the center of a deformed basin, when natural feature points exist, ground laser scanning instruments are used to monitor settlement, and when natural feature points do not exist, artificial feature points are laid out and monitored by leveling. This application does not need to use control points outside the mining influence range as the starting point for leveling, thereby saving a lot of manpower and material resources, and only uses ground laser scanning instruments to measure areas where natural feature points exist, rather than laying ground laser scanning instruments over a large area, thereby reducing the monitoring workload and greatly improving monitoring efficiency. When natural feature points do not exist, monitoring is combined with leveling. This application can achieve large-area precise measurement at a low cost.

[0098] Compared with the prior art, this embodiment has the following beneficial effects:

[0099] (1) This method does not need to use control points outside the mining influence range as the starting point for leveling, thus reducing the scope of leveling observation.

[0100] (2) This method integrates DInSAR, TLS, and leveling observation methods to greatly improve monitoring efficiency.

[0101] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for monitoring the settlement of a working face in a mining area without a control point is implemented.

[0102] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0103] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0104] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0105] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0106] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0107] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0108] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0109] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for monitoring settlement of a working face in a mining area without a control point, characterized in that: The method for monitoring subsidence of a working face in a mining area without control points comprises: Obtain satellite monitoring data and ground 3D laser scanning data of the monitoring area; Calculate the LOS deformation of the edge of the deformation basin based on the satellite monitoring data; Calculating the subsidence value of the edge of the deformation basin according to the LOS deformation; Determine the location of natural feature points in the deformation basin according to the ground three-dimensional laser scanning data to obtain the location of the feature points; the natural feature points include: plane feature points, building feature points and tree feature points; Determine the position of the characteristic point as the installation position of the ground laser scanning device; Acquiring three-dimensional point cloud data using a ground laser scanning device placed at a designated location; the designated location is determined according to the installation location; Calculate the settlement data at the position of the feature point according to the three-dimensional point cloud data; Determine the position where no natural feature point exists in the deformation basin as an artificial feature point for leveling measurement; the artificial feature point for leveling measurement is used to monitor the settlement of the working face by leveling measurement; The LOS deformation of the edge of the deformation basin is calculated based on the satellite monitoring data, specifically including: Registering and resampling two images of different dates in the satellite monitoring data to obtain single-view complex image data; Conjugate multiply the complex matrices of the single-view complex image data to obtain an initial interference pattern; Phase unwrapping of the initial interference pattern is performed to obtain LOS deformation; Calculating the subsidence value of the edge of the deformation basin according to the LOS deformation specifically includes: The subsidence value of the edge of the deformation basin is calculated according to a calculation formula, and the calculation formula is: W=LOS / cos(θ INC ); Where W is the settlement, LOS represents the LOS deformation, θ INC represents the satellite’s angle of incidence; Determining the position of the feature point as the installation position of the ground laser scanning device specifically includes: Determine the position of the characteristic point as the installation position of the ground laser scanning device; Determining the installation positions of a plurality of ground laser scanning devices in sequence in a linear manner at intervals of a preset distance in the installation position; Determining a position in the deformation basin where no natural feature point exists as an artificial feature point for leveling measurement specifically includes: Acquire the starting and ending positions of the terrestrial laser scanning instrument array, and determine the starting and ending positions as the starting positions of the leveling measurement; the terrestrial laser scanning instrument array includes a plurality of terrestrial laser scanning instruments; In a position in the deformation basin where no natural feature point exists, artificially laid marks for leveling measurement are respectively set from the starting position along a first direction and a second direction; the first direction is the direction from the starting position to the center of the deformation basin; the second direction is the direction from the starting position to the deformation judgment edge; For the continuous TLS instrument installation positions, the one farthest from the center of the deformation basin is regarded as the starting installation position, and the one closest to the center is regarded as the ending installation position. Artificial feature points are arranged at the starting and ending installation positions. Acquiring three-dimensional point cloud data using the terrestrial laser scanning device; calculating the settlement data at the position of the feature point according to the three-dimensional point cloud data, specifically comprising: Continuously acquiring three-dimensional point cloud data using the terrestrial laser scanning instrument; Calculate coordinate data according to the three-dimensional point cloud data; Subtract the corresponding coordinate data in the two measurements to obtain the settlement data at the position of the feature point; Calculating coordinate data according to the three-dimensional point cloud data specifically includes: For the plane feature points in the three-dimensional point cloud data: Separating ground point cloud data from the three-dimensional point cloud data using a cloth filtering algorithm; Constructing a rectangular grid according to the ground point cloud data; Obtaining the coordinates of the plane feature points using an inverse distance interpolation method according to the rectangular grid; For the building feature points in the three-dimensional point cloud data: Use the target ball to obtain the coordinates of the building's feature points; For the tree feature points in the three-dimensional point cloud data: Obtain point cloud data of tree feature point positions in three-dimensional point cloud data; Calculating the plane coordinates of the tree feature point positions by the least square method according to the point cloud data of the tree feature point positions; The plane coordinates are interpolated by inverse distance to obtain the elevation coordinates of the tree feature point positions.

2. A computer device comprising: A memory and a processor with a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for monitoring settlement of a working face in a mining area without control points as described in claim 1.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for monitoring settlement of a working face in a mining area without control points described in claim 1 is implemented.

4. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for monitoring settlement of a working face in a mining area without control points described in claim 1 is implemented.

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