Soil stability monitoring and early warning system for large strip mine area

Abstract

The invention discloses a soil stability monitoring and early warning system for a large strip mine area, and the system comprises a deep soil segment type three-dimensional displacement automatic monitoring subsystem which is composed of a segment type three-dimensional displacement instrument and a signal transmission system, and is used for monitoring, recording and transmitting the displacement characteristics of the mine area soil; the unmanned aerial vehicle ground surface displacement monitoring and early warning subsystem carries a machine vision instrument and an early warning instrument through an unmanned aerial vehicle group and monitors target image information at the top end of the segment type three-dimensional displacement instrument; the satellite remote sensing and positioning subsystem is used for calibrating the spatial position of the unmanned aerial vehicle and acquiring and analyzing the overall remote sensing image of the mining area; monitoring early warning and positioning data are collected through terminal equipment, and absolute unique values of the earth surface and the deep soil body of the mining area are obtained. According to the system disclosed by the invention, a ground-sky-air multi-level monitoring system is crossed and fused, so that the accuracy of studying and judging the instability of the side slope soil body in the strip mine area is greatly improved, and the possibility of missing report, false report and late report caused by measurement errors in a single technology is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of soil stability monitoring and early warning in large-scale mining areas, and in particular to a soil stability monitoring and early warning system in large-scale open-pit mining areas. Background Art

[0002] At present, soil stability monitoring in large open-pit mining areas has problems such as low coverage, long monitoring delay, low monitoring data volume, low reliability, and large warning blind spots.

[0003] In the existing technology, the buried slope displacement monitoring system can only accurately measure part of the soil, but when the deployment range moves as a whole, it is difficult to reflect the stability of the slope soil, which may cause abnormal monitoring data. At the same time, due to the fixed monitoring position, the ground computer vision monitoring system can only accurately monitor the vertical and slope width of the mine slope, and it is difficult to achieve high-precision monitoring of the entire observed soil. When the monitoring data is inaccurate and the position needs to be checked, manual calibration is usually required, with low intelligence and high maintenance costs.

[0004] Therefore, single soil displacement monitoring in mining areas will have problems such as low monitoring efficiency, small amount of data and long interaction time, poor reliability, many warning blind spots, high maintenance cost, low informatization and intelligence, etc., making it difficult to achieve high-frequency, low-error monitoring of soil stability in mining areas and accurate and comprehensive warning push. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a soil stability monitoring and early warning system for large open-pit mines, which cross-integrates the multi-level ground-air-space monitoring systems to improve the accuracy of slope soil instability analysis in open-pit mines and reduce the possibility of missed reports, false reports and late reports due to measurement errors of a single technology.

[0006] The present invention adopts the following technical scheme: a soil stability monitoring and early warning system for a large open-pit mine area, comprising: a comprehensive monitoring and early warning system and terminal equipment;

[0007] The comprehensive monitoring and early warning system includes a deep soil segmental three-dimensional displacement automatic monitoring subsystem, an unmanned aerial vehicle surface displacement monitoring and early warning subsystem, and a satellite remote sensing and positioning subsystem;

[0008] The deep soil segmental three-dimensional displacement automatic monitoring subsystem includes a segmental three-dimensional displacement meter and a signal transmission module, which is used for monitoring and recording the displacement characteristics of deep soil in the mining area, and automatically analyzing and uploading the deep soil monitoring data to the terminal device;

[0009] The UAV surface displacement monitoring and early warning subsystem monitors the target image information on the top of the segmented three-dimensional displacement meter through the UAV group equipped with a visual processing module and an early warning module, obtains the surface displacement data of the mining area and uploads it to the terminal device;

[0010] The satellite remote sensing and positioning subsystem includes a satellite remote sensing module and a satellite positioning device, which performs spatial displacement verification of the UAV and top displacement calibration of the segmented three-dimensional displacement meter according to the terminal device instructions, obtains and analyzes the overall remote sensing image of the mining area, detects soil displacement, and uploads data to the terminal device;

[0011] The terminal equipment is used to collect monitoring and early warning data and positioning data of the comprehensive monitoring and early warning system, cross-compare and analyze the received data to obtain accurate absolute unique values ​​of the surface and deep soil of the mining area, and conduct graded verification and alarm on the monitoring and early warning data of each subsystem. When a dangerous situation occurs, the alarm is quickly broadcast by the drone group to every corner of the mining area.

[0012] Specifically, in the comprehensive monitoring and early warning system, the deep soil segmented three-dimensional displacement automatic monitoring subsystem, the unmanned aerial vehicle surface displacement monitoring and early warning subsystem, and the satellite remote sensing and positioning subsystem constitute a three-level ground-sky monitoring system. Each layer carries out monitoring independently and is used in combination of two or three layers according to the on-site conditions of the mining area.

[0013] Furthermore, there are multiple segmented three-dimensional displacement meters, which are deployed on the outer edge waves of the mining area according to needs. Image recognition targets and locators are provided on the top. The locators are used for the spatial displacement verification of the UAV.

[0014] Furthermore, the satellite remote sensing and positioning subsystem calibrates the spatial displacement of the UAV and the top displacement of the segmented three-dimensional displacement meter according to the terminal device instruction, and the method is as follows:

[0015] The satellite remote sensing and positioning subsystem spatially locates the drone swarm and cross-compares it with the drone's own air pressure positioning system; if the cross-comparison passes, the drone's visual processing module is started to monitor the displacement data of the image recognition target on the top of the segmented three-dimensional displacement meter; if the cross-comparison fails, it is determined that the drone's position has an overall displacement, and a command is issued to calibrate and maintain the drone's spatial coordinates. The positioning instrument installed on the top of the segmented three-dimensional displacement meter is used in combination with real-time mining area climate data to correct the drone's spatial position, and the satellite remote sensing and positioning subsystem is enabled to monitor the displacement of the entire mining area and the top of the segmented three-dimensional displacement meter.

[0016] Furthermore, in the UAV surface displacement monitoring and early warning subsystem, the early warning module carried by the UAV swarm is connected to the terminal device to carry out mobile early warning in multiple directions and different corners of the open-pit mine area. The warnings issued by the early warning module include: segmented three-dimensional displacement meter surface displacement warning, segmented three-dimensional displacement meter deep soil displacement warning, and UAV surface displacement monitoring warning.

[0017] Further, after receiving the warning data, the terminal device performs warning processing, the method is as follows:

[0018] S1. Determine whether the warning data is a segmented three-dimensional displacement meter surface displacement warning, a segmented three-dimensional displacement meter deep soil displacement warning, or a drone surface displacement monitoring warning;

[0019] S2. Retrieve the UAV visual surface monitoring data, the segmented three-dimensional displacement instrument top positioning data, and the satellite remote sensing and positioning subsystem data for comparison;

[0020] S3. If they match, the segmental three-dimensional displacement meter or the spatial positioning data of the drone position is accurate, and the terminal device sends the mining area surface sliding or deep soil displacement alarm information, and retrieves the drone acquisition images and satellite remote sensing images;

[0021] S4. If there is any mismatch, the terminal device sends the UAV spatial displacement verification and segmented three-dimensional displacement meter top displacement calibration instructions to the satellite remote sensing and positioning subsystem, and uses the positioning signal to calibrate the segmented three-dimensional displacement meter monitoring data to obtain the absolute displacement of the mining area slope.

[0022] Furthermore, in step S4, when the comparison result of the surface monitoring data of the UAV and the top displacement data of the segmented three-dimensional displacement meter does not match, the terminal device sends the UAV spatial displacement verification and segmented three-dimensional displacement meter top displacement calibration instructions to the satellite remote sensing and positioning subsystem, as follows:

[0023] S4.1. If the satellite remote sensing and positioning subsystems are calibrated and the spatial coordinates of the drone are not moved, the surface displacement alarm shall be based on the drone group monitoring data;

[0024] S4.2. If the satellite remote sensing and positioning subsystems are calibrated and the spatial coordinates of the drone are changed, it is determined that the drone position has been displaced as a whole. The surface alarm is based on the satellite remote sensing monitoring data, and the drone group positions are adjusted and calibrated in a timely manner.

[0025] S4.3. While the satellite remote sensing and positioning subsystem verifies the spatial displacement of the UAV, it also calibrates the change value of the top coordinate of the segmented three-dimensional displacement meter. If the change value is consistent with the top displacement measured by the segmented three-dimensional displacement meter itself, the surface displacement alarm is based on the monitoring data of the segmented three-dimensional displacement meter;

[0026] S4.4. If the top coordinate change value of the segmental three-dimensional displacement meter does not match the top displacement measured by the segmental three-dimensional displacement meter itself, it is determined that the segmental three-dimensional displacement meter has an overall displacement, and the monitoring data of the segmental three-dimensional displacement meter is calibrated using the satellite remote sensing and positioning subsystem to obtain the absolute displacement value of the mining area slope;

[0027] S4.5. The absolute displacement value of the slope is retransmitted to the terminal device for data analysis, and the monitoring and early warning results are graded for verification and alarm.

[0028] Furthermore, the terminal device will conduct graded verification and alarm on the monitoring and early warning results. When a dangerous situation occurs, the alarm will be sent to the drone swarm, which will quickly broadcast to every corner of the mining area.

[0029] Furthermore, the deep soil segmented three-dimensional displacement automatic monitoring subsystem and the unmanned aerial vehicle surface displacement monitoring and early warning subsystem connect to the terminal equipment through wireless communications for real-time data transmission, including but not limited to 4G / 5G, Wi-Fi, dedicated wireless frequency bands or satellite communications; the satellite remote sensing and positioning subsystem realizes data transmission with ground terminal equipment through satellite communications.

[0030] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0031] The large-scale open-pit mine soil stability monitoring and early warning system of the present invention cross-integrates the ground-air-space multi-level monitoring systems through a deep soil segmented three-dimensional displacement automatic monitoring subsystem, an unmanned aerial vehicle surface displacement monitoring and early warning subsystem, and a satellite remote sensing and positioning subsystem, which can greatly improve the accuracy of slope soil instability assessment in open-pit mines and reduce the possibility of missed reports, false reports, and late reports due to measurement errors of a single technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a diagram showing the structure of a large open-pit mine soil stability monitoring and early warning system of the present invention;

[0033] Figure 2 This is a structural block diagram of the soil stability monitoring and early warning system for large open-pit mines of the present invention;

[0034] Figure 3 This is a block diagram of the comprehensive monitoring and early warning system of the present invention;

[0035] Explanation of the numbers in the figure: 1-satellite remote sensing and positioning subsystem, 2-UAV surface displacement monitoring and early warning subsystem, 3-segmented three-dimensional displacement meter, 4-visual recognition target and locator, 5-terminal equipment. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the application is further elaborated in detail below in conjunction with the accompanying drawings. The described embodiments are only a part of the embodiments involved in the present invention. All non-innovative embodiments of other researchers in the field on this embodiment belong to the protection scope of the present invention. At the same time, for the step numbering in the embodiment of the present invention, it is only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0037] In one embodiment of the present invention, a soil stability monitoring and early warning system for a large open-pit mine area is provided. Figure 1 and Figure 3 As shown, it includes: a satellite remote sensing and positioning subsystem 1, an unmanned aerial vehicle surface displacement monitoring and early warning subsystem 2, a deep soil segmental three-dimensional displacement automatic monitoring subsystem, and a terminal device 5.

[0038] Specifically, Figure 2 As shown, the deep soil segmental three-dimensional displacement automatic monitoring subsystem is composed of a segmental three-dimensional displacement meter 3, a signal acquisition and analysis system and an early warning device. It is used to monitor the displacement characteristics of deep soil in the mining area and upload the data to the terminal device 5 for cross-comparison and early warning.

[0039] Preferably, there are multiple segmented three-dimensional displacement meters 3, and a visual recognition target and a positioning device 4 are installed on the top of the segmented three-dimensional displacement meter 3 for verifying the spatial displacement of the UAV. The segmented three-dimensional displacement meter 3 establishes communication with the UAV surface displacement monitoring and early warning subsystem 2 and the satellite remote sensing and positioning subsystem 1.

[0040] The UAV surface displacement monitoring and early warning subsystem 2 is composed of an information collection and analysis system, a UAV swarm equipped with visual sensors, and a soil instability classification early warning system. It is used for high-mobility and high-precision monitoring of soil surface displacement in multiple camera positions, multiple angles, and optical fields. Specifically, it includes: a machine vision instrument, a UAV swarm, and an early warning instrument. It is used to monitor the target image information on the top of the segmented displacement meter equipment, and process the image information and upload the surface displacement data to the terminal device 5 for aggregation, which is used for cross-comparison and realization of high-mobility, timely, and wide-area classification early warning.

[0041] The satellite remote sensing and positioning subsystem 1, which consists of a satellite remote sensing system, a satellite positioning device and a signal acquisition and analysis system, is used to complete the spatial position calibration of the drone group and the acquisition and analysis of the overall remote sensing image of the mining area, use remote sensing image processing technology to detect soil displacement, and upload the data to the terminal device 5 for summary.

[0042] The terminal device 5 serves as a data information processing center, which is used for the monitoring data and positioning information of the satellite remote sensing and positioning subsystem 1, the drone surface displacement monitoring and early warning subsystem 2, and the deep soil segmental three-dimensional displacement automatic monitoring subsystem 3, and cross-compares and analyzes the above data to obtain accurate absolute unique values ​​of the surface and deep soil in the mining area, and performs graded verification and alarm on the monitoring and early warning data of each system according to the corresponding early warning logic. Once a dangerous situation occurs, the alarm is quickly broadcast to every corner of the mining area by the drone group.

[0043] It should be noted that in the comprehensive monitoring and early warning system of this embodiment, the three subsystems can carry out monitoring work independently, or be used in combination of two according to the on-site conditions, or the three systems can be combined to form a comprehensive monitoring and early warning system, so as to realize information-based and intelligent cross-monitoring of big data on mine slopes and high-precision, all-round comprehensive early warning.

[0044] Preferably, there are multiple segmented three-dimensional displacement meters 3, which are arranged on the slope of the monitored mining area according to needs. Multiple segmented displacement meters 3 are also provided far away from the outside of the mining area (area without landslide risk) to self-check whether there is slope movement. Visual recognition targets and locators 4 are installed on the top of the segmented displacement meters 3 for UAV spatial positioning verification.

[0045] The segmented three-dimensional displacement meter 3 is used to monitor the displacement characteristics of deep soil in the mining area. Through the collected deep soil displacement data, regression analysis and calculation are performed to obtain the displacement change law, predict subsequent displacement changes, and make corresponding early warning processing.

[0046] Preferably, the UAV surface displacement monitoring and early warning subsystem 2 is used for monitoring the surface displacement characteristics of the mining area. Through the collected displacement data of the target point, based on the digital speckle correlation, the coordinate changes of the target point before and after the displacement are analyzed, and the displacement is calculated using the following formula:

[0047]

[0048] Then, the core technology principle of monocular vision measurement is used to perform correlation analysis on the target data images before and after deformation to determine the overall displacement change. Through repeated analysis and comparison inside the computer, the displacement change of the target measuring point can be determined more accurately. The accuracy and calculation amount are determined by the following formula:

[0049]

[0050] Among them, u(x, y) is the coordinate of the target pixel block in the initial state, v(x, y) is the coordinate of the target pixel block after displacement, k represents the pixel block number, R 12 Indicates the obtained similarity.

[0051] In order to ensure that the latter is the deformed pixel block of the former, the computer will expand the search range during comparison, and compare through different angles and different search paths to ensure the comparability of the front and back pixel blocks, thereby ensuring the accuracy of the displacement measurement.

[0052] Preferably, in order to facilitate monitoring, reduce maintenance costs, and enhance the construction of informationization, intelligence, unmanned and all-round early warning capabilities of the monitoring system, the drone swarm is equipped with a computer vision processing system and an early warning system, and the spatial coordinates of the drone swarm can be changed, which can provide more monitoring positions. Among them, the millimeter-wave ranging radar device with a "binocular" visual instrument can capture the visual identification target at the top of the segmented displacer with a wide field of view, and complete the precise monitoring of the top displacement.

[0053] The wireless router and computing processor of the drone swarm are connected to the intelligent signal acquisition system of the visual instrument to output monitoring information. Given the mobility of the drone swarm and the stability of hovering in space, intelligent monitoring can be achieved regardless of the geological conditions of the mining area.

[0054] In this embodiment, specifically, the satellite remote sensing and positioning subsystem 1 calibrates and checks the position of the drone to determine whether the spatial coordinates of the drone have changed, and the method is as follows:

[0055] The satellite remote sensing and positioning subsystem 1 verifies the spatial position of the drone group to determine whether the drone group is hovering at the selected spatial observation point. The positioning signal is verified by the top positioning instrument of the segmented displacer far away from the outside of the mining area (the area without landslide risk). If the spatial position coincides with the selected spatial observation point (no relative displacement), the verification is passed, otherwise the verification fails.

[0056] Since the position of the machine vision instrument is directly related to the position of the lens installed on the machine vision instrument, and the position of the lens is related to whether it can accurately capture the top displacement of the flexible inclinometer, therefore, before conducting slope monitoring, the position of the machine vision instrument should be ensured first, which is the primary prerequisite for ensuring monitoring accuracy.

[0057] If the drone position calibration is verified to be successful, the drone is used to monitor the top displacement of the segmented three-dimensional displacement instrument 3;

[0058] If the drone position calibration check fails, it is determined that the drone position has been displaced as a whole, and the drone group needs to be spatially adjusted. Instructions are issued through the terminal device 5 to instruct the satellite positioning system to calibrate and maintain the drone spatial coordinates. At the same time, the satellite remote sensing and positioning subsystem 1 is used to monitor the displacement of the top of the segmented three-dimensional displacement meter 3.

[0059] After the drone group's position receives the command to adjust, the satellite positioning system should be used to calibrate and check the drone group's position again to ensure that the machine vision instrument finally reaches the correct position, and then subsequent operations can be carried out to ensure the monitoring results.

[0060] Furthermore, the deep soil segmental three-dimensional displacement automatic monitoring subsystem also includes an early warning device, which is connected to the intelligent gateway of the terminal device 5. That is to say, in the soil deep displacement monitoring system, when the segmental three-dimensional displacement meter 3 monitors the displacement of the stratum from the surface to the depth of the sliding surface and exceeds the preset value, an alarm can be given through this early warning device. At the same time, it is cross-compared with the drone group observation data and satellite remote sensing positioning data, and the soil instability level is determined by comparison, and fed back to the drone early warning system, so as to quickly issue risk early warning notifications to all directions of the mining area.

[0061] Furthermore, the drone surface displacement monitoring and early warning subsystem 2 also includes an early warning module, which is connected to the terminal device 5 and can realize multiple early warning classifications. After the early warning, the drone can implement all-round three-dimensional free maneuver early warning for the mining area.

[0062] It should be noted that the preset values ​​of the above displacements and the level of soil instability can be adjusted according to the geological conditions of different mining areas, and are not limited to one value, and no further restrictions are made here.

[0063] The large open-pit mine soil stability early warning system of this embodiment is used to monitor soil stability in a large open-pit mine, and includes the following steps:

[0064] If the UAV surface displacement monitoring and early warning subsystem 2 issues an early warning, it is determined whether it is a segmented three-dimensional displacement meter surface displacement early warning, a segmented three-dimensional displacement meter deep soil displacement early warning, or a UAV surface displacement monitoring early warning.

[0065] (1) When the segmented three-dimensional displacement meter ground displacement warning is issued, the terminal device 5 retrieves the drone visual ground monitoring data and compares it with the segmented three-dimensional displacement meter top positioning data and satellite remote sensing data;

[0066] If they match, the terminal device 5 sends a ground sliding alarm message and retrieves the drone-collected images and satellite remote sensing images;

[0067] If they do not match, the terminal device 5 sends a command to the satellite remote sensing and positioning subsystem 1 to verify the drone position and the top coordinates of the segmented three-dimensional displacement meter, and uses the positioning signal to calibrate the monitoring data of the segmented three-dimensional displacement meter to obtain the absolute displacement of the mining area slope.

[0068] (2) When the segmented three-dimensional displacement meter is used for deep soil displacement warning, the terminal device 5 retrieves the visual surface monitoring data of the drone and compares it with the top positioning data of the segmented three-dimensional displacement meter and the satellite remote sensing data;

[0069] If they match, the deep soil displacement of the segmental three-dimensional displacement instrument shall prevail;

[0070] If they do not match, the terminal sends a command to the satellite remote sensing and positioning subsystem 1 to verify the drone position and the top coordinates of the segmented three-dimensional displacement meter, and uses the positioning signal to calibrate the monitoring data of the segmented three-dimensional displacement meter to obtain the absolute displacement of the mining area slope.

[0071] (3) When the UAV surface displacement monitoring system issues an early warning, the terminal device 5 retrieves the monitoring data from the top of the segmented three-dimensional displacement meter and compares it with the data. If they match, the spatial positioning of the UAV is determined to be accurate, and a surface sliding alarm message is sent and the images collected by the UAV and the satellite remote sensing images are retrieved. If they do not match, the terminal sends a command to the satellite to verify the UAV position and the coordinates of the top of the segmented three-dimensional displacement meter, and uses the positioning signal to calibrate the monitoring data of the segmented three-dimensional displacement meter to obtain the absolute displacement of the mining area slope.

[0072] Furthermore, in the UAV early warning system, if it is a segmented three-dimensional displacement meter surface displacement warning, and the UAV surface monitoring data is compared with the segmented three-dimensional displacement meter top displacement, when the comparison result does not match, the terminal sends a command to the satellite positioning system to verify the UAV position and the segmented three-dimensional displacement meter top coordinates, including:

[0073] If the drone spatial coordinates obtained by the satellite positioning system calibration have not moved, the surface displacement alarm will be based on the drone monitoring data. If the drone spatial coordinates obtained by the satellite positioning system calibration have changed, it is determined that the drone position has been displaced as a whole. This surface alarm will be based on the satellite remote sensing monitoring data and the drone deployment position will be adjusted and calibrated in a timely manner.

[0074] While the satellite positioning system verifies the spatial coordinates of the UAV, it also calibrates the change value of the top coordinates of the segmented three-dimensional displacement meter. If the change value is consistent with the top displacement measured by the segmented three-dimensional displacement meter itself, the surface displacement alarm is based on the monitoring data of the segmented three-dimensional displacement meter.

[0075] If the change value does not match the top displacement measured by the segmented three-dimensional displacement meter itself, it is determined that the segmented three-dimensional displacement meter has undergone an overall displacement. At the same time, the satellite positioning system is used to calibrate the monitoring data of the segmented three-dimensional displacement meter to obtain the absolute displacement value of the mining slope.

[0076] Furthermore, when the UAV early warning system is a warning of deep soil displacement of the segmented three-dimensional displacement meter, and the surface monitoring data of the UAV is compared with the displacement of the top of the segmented three-dimensional displacement meter, and the comparison result does not match, the terminal sends a command to the satellite to verify the UAV position and the coordinates of the top of the segmented three-dimensional displacement meter, including:

[0077] If the drone spatial coordinates obtained by the satellite positioning system calibration have not changed, the surface displacement alarm will be based on the drone monitoring data. If the drone spatial coordinates obtained by the satellite positioning system calibration have changed, it is determined that the drone position has been displaced as a whole. This surface alarm will be based on the satellite remote sensing monitoring data, and the drone deployment position will be adjusted and calibrated in a timely manner.

[0078] While the satellite positioning system verifies the coordinates of the drone's position, it also calibrates the change in the top coordinates of the segmented three-dimensional displacement meter. If the change is consistent with the top displacement measured by the segmented three-dimensional displacement meter itself, the surface displacement alarm is based on the monitoring data of the segmented three-dimensional displacement meter.

[0079] If the change value does not match the top displacement measured by the segmented three-dimensional displacement meter itself, it is determined that the segmented three-dimensional displacement meter has undergone overall displacement. At the same time, the satellite positioning system is used to calibrate the monitoring data of the segmented three-dimensional displacement meter to obtain the absolute displacement value of the slope.

[0080] Furthermore, in the UAV early warning system, when the UAV surface displacement monitoring system issues an early warning, and the terminal retrieves the monitoring data of the top of the segmented three-dimensional displacement meter for comparison, and the comparison result does not match, the terminal sends a command to the satellite to verify the UAV position and the coordinates of the top of the segmented three-dimensional displacement meter, including:

[0081] If the spatial coordinates of the drone obtained by the satellite positioning system calibration have not changed, the surface displacement alarm shall be based on the drone monitoring data. If the spatial coordinates of the drone obtained by the satellite positioning system calibration have changed, it is determined that the drone position has been displaced as a whole. This surface alarm shall be based on the satellite remote sensing monitoring data, and the drone position shall be adjusted and calibrated in time. While the satellite positioning system verifies the spatial coordinates of the drone, it calibrates the change value of the top coordinates of the segmented three-dimensional displacement meter. If the change value is consistent with the top displacement measured by the segmented three-dimensional displacement meter itself, the surface displacement alarm shall be based on the monitoring data of the segmented three-dimensional displacement meter.

[0082] If the change value does not match the top displacement measured by the segmented three-dimensional displacement meter itself, it is determined that the segmented three-dimensional displacement meter has undergone overall displacement. At the same time, the satellite positioning system is used to calibrate the monitoring data of the segmented three-dimensional displacement meter to obtain the absolute displacement value of the slope and retransmit it to the terminal for analysis.

[0083] In summary, the large-scale open-pit mine soil stability monitoring and early warning system of the present invention cross-integrates the multi-level ground-air-space monitoring systems, which can greatly improve the accuracy of slope soil instability assessment in open-pit mines and reduce the possibility of underreporting, false alarms and late reporting due to measurement errors of a single technology.

[0084] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A soil stability monitoring and early warning system for a large open-pit mine area, comprising: Comprehensive monitoring and early warning system and terminal equipment; characterized in that: the comprehensive monitoring and early warning system includes a deep soil segmental three-dimensional displacement automatic monitoring subsystem, an unmanned aerial vehicle surface displacement monitoring and early warning subsystem, and a satellite remote sensing and positioning subsystem; The deep soil segmental three-dimensional displacement automatic monitoring subsystem includes a segmental three-dimensional displacement meter and a signal transmission module, which is used for monitoring and recording the displacement characteristics of deep soil in the mining area, and automatically analyzing and uploading the monitoring data to the terminal device; The UAV surface displacement monitoring and early warning subsystem monitors the target image information on the top of the segmented three-dimensional displacement meter through the UAV group equipped with a visual processing module and an early warning module, obtains the surface displacement data of the mining area and uploads it to the terminal device; The satellite remote sensing and positioning subsystem includes a satellite remote sensing module and a satellite positioning device, which performs spatial displacement verification of the UAV and top displacement calibration of the segmented three-dimensional displacement meter according to the terminal device instructions, obtains and analyzes the overall remote sensing image of the mining area, detects soil displacement, and uploads data to the terminal device; The terminal equipment collects monitoring, warning and positioning data of the comprehensive monitoring and warning system, performs cross-comparison analysis on the data, obtains accurate absolute unique values ​​of the surface and deep soil of the mining area, and performs graded verification and alarm on the monitoring and warning results.

2. The large open-pit mine soil stability monitoring and early warning system according to claim 1 is characterized by: In the comprehensive monitoring and early warning system, the deep soil segmented three-dimensional displacement automatic monitoring subsystem, the unmanned aerial vehicle surface displacement monitoring and early warning subsystem, and the satellite remote sensing and positioning subsystem constitute a three-level ground-sky monitoring system. Each layer carries out monitoring independently and is used in combination of two or three layers according to the on-site conditions of the mining area.

3. The large open-pit mine soil stability monitoring and early warning system according to claim 1 is characterized by: There are multiple segmented three-dimensional displacement meters, which are arranged on the peripheral edge waves of the mining area according to needs, and are equipped with image recognition targets and locators on the top. The locators are used for the spatial displacement verification of the UAV; The segmented three-dimensional displacement meter is used to monitor the displacement characteristics of deep soil in mining areas. By collecting deep soil displacement data and performing regression analysis and calculation, the displacement change law is obtained, the subsequent displacement changes are predicted, and corresponding early warning processing is made.

4. The large open-pit mine soil stability monitoring and early warning system according to claim 3 is characterized by: The UAV surface displacement monitoring and early warning subsystem is used to monitor the surface displacement characteristics of the mining area. Through the collected target point displacement data, based on the digital speckle correlation, the coordinate changes of the target point before and after the displacement are analyzed, and the surface displacement Δs of the mining area is calculated. The formula is as follows: Among them, (x i ,y i )、(x j ,y j ) represent the coordinates of the target point before and after displacement, Δx and Δy represent the coordinate displacement values ​​of the target point in the x-axis and y-axis directions respectively; The monocular vision measurement method is used to perform correlation analysis on the target data images before and after deformation to determine the displacement change of the entire surface of the mining area. The displacement change of the target point is determined by repeated analysis and comparison by computer. The displacement measurement accuracy and calculation amount are determined by the following formula: Among them, u(x, y) is the coordinate of the target pixel block in the initial state, v(x, y) is the coordinate of the target pixel block after displacement, k represents the pixel block number, R 12 In order to ensure that the latter is a deformed pixel block of the former, the computer expands the search range during the comparison and performs the comparison through different angles and different search paths.

5. The large open-pit mine soil stability monitoring and early warning system according to claim 4 is characterized by: The satellite remote sensing and positioning subsystem performs the verification of the UAV spatial displacement and the calibration of the top displacement of the segmented three-dimensional displacement meter according to the terminal device instruction, and the method is as follows: The satellite remote sensing and positioning subsystem locates the drone swarm in space and determines whether the drone swarm is hovering at the selected spatial observation point. The positioning signal is verified by the top positioning device of the segmented three-dimensional displacement meter far away from the landslide risk-free area outside the mining area. A cross-comparison is performed with the drone's built-in air pressure positioning system. If the cross-comparison passes, the drone's visual processing module is started to monitor the displacement data of the image recognition target on the top of the segmented three-dimensional displacement meter. If the cross-comparison fails, it is determined that the drone's position has an overall displacement, and a command is issued to calibrate and maintain the drone's spatial coordinates. The positioning instrument deployed on the top of the segmented three-dimensional displacement meter is used in combination with real-time mining area climate data to correct the drone's spatial position, and the satellite remote sensing and positioning subsystem is enabled to monitor the displacement of the entire mining area and the top of the segmented three-dimensional displacement meter.

6. The large open-pit mine soil stability monitoring and early warning system according to claim 4 is characterized by: In the drone surface displacement monitoring and early warning subsystem, the early warning module carried by the drone group is connected to the terminal device to carry out mobile early warning in multiple directions and different corners of the open-pit mine area. The warnings issued by the early warning module include: segmented three-dimensional displacement meter surface displacement warning, segmented three-dimensional displacement meter deep soil displacement warning, and drone surface displacement monitoring warning.

7. The large open-pit mine soil stability monitoring and early warning system according to claim 6 is characterized by: After receiving the warning data, the terminal device performs warning processing as follows: S1. Determine whether the warning data is a segmented three-dimensional displacement meter surface displacement warning, a segmented three-dimensional displacement meter deep soil displacement warning, or a drone surface displacement monitoring warning; S2. Retrieve the UAV visual surface monitoring data, the segmented three-dimensional displacement instrument top positioning data, and the satellite remote sensing and positioning subsystem data for comparison; S3. If they match, the segmental three-dimensional displacement meter or the spatial positioning data of the drone position is accurate, and the terminal device sends the mining area surface sliding or deep soil displacement alarm information, and retrieves the drone acquisition images and satellite remote sensing images; S4. If there is any mismatch, the terminal device sends the UAV spatial displacement verification and segmented three-dimensional displacement meter top displacement calibration instructions to the satellite remote sensing and positioning subsystem, and uses the positioning signal to calibrate the segmented three-dimensional displacement meter monitoring data to obtain the absolute displacement of the mining area slope.

8. The large open-pit mine soil stability monitoring and early warning system according to claim 7 is characterized by: Step S4: When the comparison result of the surface monitoring data of the UAV and the top displacement data of the segmented three-dimensional displacement meter does not match, the terminal device sends the UAV space displacement verification and segmented three-dimensional displacement meter top displacement calibration instructions to the satellite remote sensing and positioning subsystem, as follows: S4.

1. If the satellite remote sensing and positioning subsystems are calibrated and the spatial coordinates of the drone are not moved, the surface displacement alarm shall be based on the drone group monitoring data; S4.

2. If the satellite remote sensing and positioning subsystems are calibrated and the spatial coordinates of the drone are changed, it is determined that the drone position has been displaced as a whole. The surface alarm is based on the satellite remote sensing monitoring data, and the drone group positions are adjusted and calibrated in a timely manner. S4.

3. While the satellite remote sensing and positioning subsystem verifies the spatial displacement of the UAV, it also calibrates the change value of the top coordinate of the segmented three-dimensional displacement meter. If the change value is consistent with the top displacement measured by the segmented three-dimensional displacement meter itself, the surface displacement alarm is based on the monitoring data of the segmented three-dimensional displacement meter; S4.

4. If the top coordinate change value of the segmental three-dimensional displacement meter does not match the top displacement measured by the segmental three-dimensional displacement meter itself, it is determined that the segmental three-dimensional displacement meter has an overall displacement, and the monitoring data of the segmental three-dimensional displacement meter is calibrated using the satellite remote sensing and positioning subsystem to obtain the absolute displacement value of the mining area slope; S4.

5. The absolute displacement value of the slope is retransmitted to the terminal device for data analysis to obtain monitoring and early warning results.

9. The large open-pit mine soil stability monitoring and early warning system according to claim 8 is characterized by: The terminal equipment will conduct graded verification and alarm on the monitoring and early warning results. When a dangerous situation occurs, the alarm will be sent to the drone swarm, which will then quickly broadcast the information to every corner of the mining area.

10. The large open-pit mine soil stability monitoring and early warning system according to claim 1 is characterized by: The deep soil segmented three-dimensional displacement automatic monitoring subsystem and the drone surface displacement monitoring and early warning subsystem are connected to terminal devices through wireless communications, including but not limited to 4G / 5G, Wi-Fi, dedicated wireless frequency bands or satellite communications, for real-time data transmission. The satellite remote sensing and positioning subsystem realizes data transmission with ground terminal devices through satellite communications.

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