Seabed sand excavation pit slope change monitoring method, system, equipment and medium

Abstract

The invention discloses a seabed sand excavation pit slope change monitoring method, system and device and a medium. The method comprises the steps that a seabed pipeline distribution diagram for generating a target seabed sand excavation area is formulated; generating a plurality of side slope units in the target seabed sand excavation area according to the collected side slope topographic data; taking each side slope unit as a basic unit, obtaining a side slope disaster susceptibility evaluation index and a side slope disaster risk evaluation index, and carrying out risk calculation to obtain a corresponding disaster risk evaluation result; acquiring position data of each side slope unit, associating the submarine pipeline distribution map with the side slope units based on the position data of each side slope unit and the corresponding disaster risk evaluation result, and generating a side slope pipeline risk distribution model; based on the slope topographic data and disaster risk evaluation results of each slope unit in different data acquisition periods, obtaining a slope change trend of the target seabed sand excavation area; the effect of improving the change monitoring efficiency of the seabed sand excavation pit slope is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of slope change monitoring, and in particular to a method, system, equipment and medium for monitoring slope changes in a seabed sand mining pit. Background Art

[0002] Sea sand is sand and gravel in the sea. The larger particles are sand, which is generally measured in centimeters. The main uses of sea sand include building materials, glass manufacturing, casting, chemical industry, artificial filling, etc. After artificial mining, sea sand will form sand mining pits, which will also cause changes in the seabed topography.

[0003] Submarine sand pits usually have steep slopes. Under the marine dynamic environment, the slopes of sand pits may slide, causing the scope of the sand pits to expand, and landslides in sand pits will cause damage to adjacent submarine pipelines. The current monitoring method for sand pit slopes is to analyze the seabed surface without considering the impact of the stability of the sand pit slopes. The monitoring effect is poor and there is a defect of low efficiency in monitoring changes in the slopes of submarine sand pits. Therefore, accurate monitoring and identification of changes in the slopes of submarine sand pits is of great significance for analyzing and evaluating the impact of sand pits on adjacent submarine pipelines. Summary of the invention

[0004] In order to improve the efficiency of monitoring changes in the slope of a submarine sand mining pit and facilitate analysis and evaluation of the impact of the sand mining pit on adjacent submarine pipelines, the present application provides a method, system, equipment and medium for monitoring changes in the slope of a submarine sand mining pit.

[0005] In the first aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A method for monitoring the slope change of a seabed sand mining pit, comprising: Identify the submarine pipelines in the target submarine sand mining area and obtain the corresponding pipeline attribute parameters of the submarine pipelines; formulate and generate a submarine pipeline distribution map of the target submarine sand mining area based on the GIS of the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines; Collecting slope topographic data of the sand mining pit slope, and generating a plurality of slope units in the target seabed sand mining area according to the slope topographic data; Taking each slope unit as a basic unit, identifying and obtaining a corresponding slope disaster susceptibility evaluation index and a corresponding slope disaster risk evaluation index; performing risk calculation according to the slope disaster susceptibility evaluation index and the slope disaster risk evaluation index to obtain a corresponding disaster risk evaluation result; Acquire the position data of each slope unit, and based on the position data of each slope unit and the corresponding disaster risk assessment result, associate the submarine pipeline distribution map with all the slope units, and generate a slope pipeline risk distribution model of the target submarine sand mining area; In the slope pipeline risk distribution model, based on the slope topographic data and disaster risk assessment results of each slope unit in different data collection cycles, the slope change trend of the target seabed sand mining area is obtained.

[0006] By adopting the above technical scheme, in the process of monitoring the changes of submarine sand mining pits, in order to facilitate the analysis and evaluation of the impact of sand mining pits on adjacent submarine pipelines, the distribution of submarine pipelines in the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines are first identified, so as to formulate and generate a submarine pipeline distribution map according to the GIS of the target submarine sand mining area. The distribution of submarine pipelines and corresponding spatial position information can be obtained through the submarine pipeline distribution map. Then, the slope topographic data of the slope of the sand mining pit is collected and acquired, so as to construct the evaluation unit of the slope gradient and the valley surface division of the slope contour line of the target submarine sand mining area by using the slope topographic data of the slope of the sand mining pit. The slope unit is the unstable evaluation area of ​​the submarine sand mining pit and belongs to the area prone to slope landslides. Specifically, the slope unit is used as the geological disaster evaluation unit of the submarine sand mining pit. From the two evaluation factors of the disaster susceptibility and disaster hazard of the sand mining pit slope, in the process of disaster risk evaluation, the disaster risk evaluation result of each slope unit is obtained by comprehensive analysis, so as to improve the accuracy of the disaster risk evaluation result of the submarine sand mining pit.

[0007] Furthermore, in order to provide an intuitive and reliable method for monitoring the changes of the slopes of submarine sand mining pits, the position data of each slope unit in the submarine sand mining pit and the disaster risk assessment results are used to generate a slope pipeline risk distribution model for the target submarine sand mining area in a corresponding manner, so that it is convenient to obtain the degree of influence of the sand mining pit operation on the submarine pipeline through the slope pipeline risk distribution model; since in the actual slope change monitoring operation, the data collection of the slope terrain data will be regularly carried out based on the preset collection time period, the changes in the slope terrain data of each slope unit in different data collection periods and the changes in the disaster risk assessment results can be used to obtain the slope change trend of the submarine sand mining pit through the slope pipeline risk distribution model, which is convenient for detecting the slope change process of the submarine sand mining pit and improving the monitoring efficiency of the slope change of the submarine sand mining pit; through the disaster risk assessment results of the slope unit, it is beneficial for sand mining workers to take necessary risk prevention measures in advance when carrying out sand mining operations in the sand mining pit, such as avoiding areas with a high possibility of slope landslides, which is beneficial to ensuring the personal safety of sand mining workers and improving the sand mining efficiency of submarine sand mining pits.

[0008] In a preferred example of the present application, the slope topographic data of the sand mining pit slope is collected, and a plurality of slope units are generated in the target seabed sand mining area according to the slope topographic data, specifically including: Collecting the slope topography data of the sand mining pit slope according to a preset period, performing data preprocessing on the slope topography data, and obtaining processed slope topography data of the sand mining pit slope; Based on the processed slope topography data of the sand mining pit slope, positive and negative depressions are filled to generate a corresponding water flow direction map; the water flow confluence data is calculated according to the water flow direction map, and a water catchment basin is generated; Acquire corresponding side slope gradient data according to the location data of the watershed; compare the side slope gradient data with a preset gradient threshold; When the slope gradient data of the watershed is greater than or equal to a preset slope threshold, an initial slope unit is generated; and the initial slope unit is corrected according to the slope terrain data to obtain a plurality of slope units.

[0009] By adopting the above technical scheme, the slope terrain data of the sand mining pit slope collected is preprocessed by denoising, smoothing and data repairing null values ​​to improve the analysis precision and accuracy of the subsequent slope units; positive and negative depressions are filled according to the processed slope terrain data to form a water flow direction map of the corresponding area, and the water retreat path and isolated area of ​​the sand mining pit slope are calculated according to the water flow direction map; the catchment basin refers to the basin boundary, which characterizes the water flow collection range of a specific area. The next step is to determine the slope gradient data of the actual geographical location of the sand mining pit where the current catchment basin is located. According to the slope value of the slope gradient data, it can be determined whether the current sand mining pit slope is in an unstable state, that is, when it is determined that the slope gradient data of the catchment basin is greater than or equal to the slope threshold, it indicates that the current catchment basin is in an unstable state. Then, the initial slope unit is generated, and then the initial slope unit is corrected according to the actual regional geological conditions to obtain the slope unit required for analysis, thereby achieving the effect of dividing the slope geological area with a higher risk of slope landslide.

[0010] In a preferred example of the present application, the location data of each slope unit is obtained, and based on the location data of each slope unit and the corresponding disaster risk assessment result, the submarine pipeline distribution map is correspondingly associated with all the slope units, and a slope pipeline risk distribution model of the target submarine sand mining area is generated, which includes: A monitoring center pile and a plurality of monitoring piles arranged at intervals are set in the target seabed sand mining area, and the plurality of monitoring piles are arranged around the monitoring center pile, and the monitoring points of the monitoring center pile and the plurality of monitoring piles are all provided with GPS measuring devices; Based on a preset first acquisition cycle, three-dimensional coordinate data of each monitoring point obtained in a set time period by a GPS static monitoring method is obtained, and coordinate displacement change information is calculated based on the three-dimensional coordinate data of each monitoring point; Based on the preset second acquisition cycle, a three-dimensional laser scanning device is installed on the monitoring center pile, and within the monitoring scanning range of the three-dimensional laser scanning device, a plurality of target tracking points are locked in the monitoring points of the plurality of monitoring piles; According to the slope scanning data of the three-dimensional laser scanning device, the slope deformation information corresponding to each target tracking point of the sand mining pit slope is obtained.

[0011] By adopting the above-mentioned technical scheme, the present application organically combines GPS monitoring and positioning with three-dimensional laser scanning technology. By acquiring the coordinate displacement change information of the sand mining pit slope, the displacement change of the three-dimensional coordinates of each monitoring point on the surface of the sand mining pit slope is obtained. At the same time, through the slope deformation information of several target tracking points, the slope deformation of the target seabed sand mining area can be obtained, thereby realizing accurate monitoring and prediction of geological disasters on the sand mining pit slope, and improving the intelligent prediction effect of monitoring the sand mining pit slope.

[0012] In a preferred example of the present application: the GPS measuring device is also used to measure the water level elevation change of the sand mining pit slope; and further includes: Get the current water level change data of the sand mining pit slope, Obtaining a corresponding water level change threshold based on the slope topography data of the current sand mining pit slope; The water level change data of the sand mining pit slope is compared with the corresponding water level change threshold. When the water level change data exceeds the preset water level change threshold, the data collection cycle of the slope terrain data of the current sand mining pit slope is adjusted.

[0013] By adopting the above technical scheme, the cyclic change of water level on the slope of the sand mining pit is the main cause of slope landslide. The increase or decrease of the data collection period of the slope terrain data is determined by detecting the change of water level elevation in the sand mining pit. For example, the data collection period of the slope terrain data is proportional to the amount and rate of change of the water level. While facilitating the monitoring of the sand mining pit slope, the measurement accuracy of the measurement data of the sand mining pit slope is improved.

[0014] In a preferred example of the present application, after obtaining the position data of each slope unit, and correspondingly associating the submarine pipeline distribution map with all the slope units based on the position data of each slope unit and the corresponding disaster risk assessment result, and generating a slope pipeline risk distribution model for the target submarine sand mining area, the method further includes: Determine a number of different sand mining construction locations based on the obtained sand mining risk assessment instructions, obtain the distribution position parameters and pipeline types of submarine pipelines in different distance ranges according to the submarine pipeline distribution map and the number of sand mining construction locations, and obtain submarine terrain environment data in different distance ranges; Based on a plurality of different sand mining construction positions and the distribution position parameters of the submarine pipelines, the distances between each sand mining construction position and a plurality of submarine pipelines are calculated to obtain different pipe diameter distance information; based on the different pipe diameter distance information, the corresponding sand mining construction distances are calculated; Several different sand mining construction locations, seabed terrain environment data and corresponding sand mining construction distances are input into the slope pipeline risk distribution model to identify and obtain the construction risk thresholds corresponding to different sand mining construction locations. The risk levels are divided based on the construction risk thresholds to obtain the construction risk assessment results.

[0015] By adopting the above technical scheme, the construction risk assessment results of several sand mining construction locations are analyzed by using a comprehensive risk factor analysis method. The comprehensive risk factors include submarine pipelines within different distance ranges, pipeline types of submarine pipelines, and submarine topographic environmental data of the surrounding submarine environment within different distance ranges. That is, when sand mining operators conduct construction risk assessment of sand mining operations, they need to consider the distance between the sand mining construction location and the submarine pipeline. Therefore, it is necessary to calculate the distance between the construction location and multiple submarine pipelines based on the actual sand mining construction location and the distribution position parameters of the submarine pipeline to obtain different pipe diameter distance information. Based on different types of submarine pipelines, the construction risk assessment results are summarized. When the distance between the pipeline and the construction location is the same, the construction risk thresholds divided are also different, that is, the pipeline types of different submarine pipelines at the same construction location and the construction risk thresholds divided by different submarine terrain and environmental data are not the same. Therefore, it is necessary to obtain the corresponding construction risk threshold based on the actual submarine pipeline type, submarine terrain and environmental data of the target submarine sand mining area and the corresponding sand mining construction distance to obtain the corresponding construction risk assessment result, which is conducive to improving the risk classification accuracy of submarine sand mining operations, and providing intelligent prediction of construction risks for sand mining operations of sand mining operators, so as to effectively avoid digging through or damaging submarine pipelines during sand mining operations.

[0016] In a preferred example, the present application also includes: Input the measured three-dimensional coordinate data and slope scanning data of each monitoring point into a preset observation processing data set, wherein the observation processing data set stores historical measurement data, and calculates the monitoring mean data and corresponding mean error data corresponding to the three-dimensional coordinate data and the slope scanning data based on the historical measurement data; If the mean error data of the three-dimensional coordinate data or the slope scanning data is less than the preset mean error threshold, the corresponding monitoring mean data is output to the preset data monitoring terminal; if the mean error data of the three-dimensional coordinate data or the slope scanning data is greater than the preset mean error threshold, additional measurement data is collected; The added measurement data is judged and filtered according to a preset gross error criterion; if the measurement data in the observation processing data set after the judgment and filtering is less than a preset quantity threshold, additional measurement data is collected; Recalculate the current mean error data. If the current mean error data is still greater than the preset mean error threshold, use the preset driving mutation point detection method to analyze the change trend of the collected measurement data to obtain trend change information; if the current mean error data is less than the preset mean error threshold, output the corresponding monitoring mean data to the preset data monitoring terminal.

[0017] By adopting the above technical scheme, the present application proposes data processing methods such as data analysis and filtering from the perspective of data error analysis, so as to improve the measurement accuracy of GPS measurement devices and three-dimensional laser scanning devices. Specifically, data errors mainly include systematic errors, gross errors and random errors. Systematic errors are tool errors, adjustment errors, method errors, etc. The sources of gross errors are the use of defective measuring instruments, sudden indication changes caused by external interference of instruments, etc. Random errors are caused by the influence of measurement environment and measurement personnel. First, the GPS measurement device and the three-dimensional laser scanning device are set to continuously collect measurement data for 3 or more times in successive collection cycles, and then the mean error data are calculated. The data is compared with the preset mean error threshold. When the mean error data is greater than the mean error threshold, it indicates that the collected measurement data does not meet the relevant data collection standards. Otherwise, it meets the requirements of the data collection standards. The gross error data screened out are deleted through the gross error criterion, that is, the invalid data is deleted. At this time, the current mean error data is recalculated. If the current mean error data is still greater than the preset mean error threshold, the driven mutation point detection method is used to analyze the change trend of the collected measurement data to measure the change state of the measured target (the three-dimensional coordinate data of the target tracking point and the slope), thereby improving the change detection efficiency of the seabed sand mining pit and the measurement accuracy of the collected measurement data of the sand mining pit changes.

[0018] In a preferred example of the present application, the distance between each sand mining construction location and a plurality of submarine pipelines is calculated based on a plurality of different sand mining construction locations and the distribution position parameters of the submarine pipelines to obtain different pipe diameter distance information, specifically including: At several different sand mining construction locations, the point coordinate data (x i ,y i , z i ), based on the distribution position parameters of the plurality of submarine pipelines, sequentially obtain the point coordinate data of the plurality of axes along the axes of the plurality of submarine pipelines (x j ,y j , z j ); The distance between the sand mining construction location and the submarine pipeline is calculated by formula (1): Let S be the distance between the sand mining construction location and the submarine pipeline. Select a starting point of a sand mining construction location to establish the X-axis, Y-axis and Z-axis. Let X ′ is the distance between the center axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the X axis, ′ is the distance between the central axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the Y axis, ′ D is the distance between the central axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the Z axis. k is the specified cross-sectional diameter at the construction location, R g is the pipe radius of the construction location of sand mining; in, Calculated by formula (2), formula (3) and formula (4) respectively: Among them, y1 is the distance between the point coordinates of the central axis of the construction position and the starting point of the sand mining construction position on the Y axis, and y2 is the distance between the point coordinates of the axis of the submarine pipeline and the starting point of the sand mining construction position on the Y axis; the horizontal angle α is the angle between the starting point of the construction position to the axis of the construction position and the projection of the axis of the submarine pipeline on the horizontal plane; the vertical angle β refers to the angle between the distance line between the starting point of the central axis of the construction position and the coordinate point of the submarine pipeline and the horizontal plane; x1 is the distance between the point coordinates of the central axis of the construction position and the starting point of the sand mining construction position on the X axis; x2 is the distance between the point coordinates of the axis of the submarine pipeline and the starting point of the sand mining construction position on the X axis.

[0019] By adopting the above technical solution, formulas (2), (3) and (4) are first used to calculate the distances between the central axis of several sand mining construction locations and the axis point coordinates of the submarine pipeline on the X-axis and Y-axis, so as to calculate the distances between the central axis point coordinates of different sand mining construction locations and the axis point coordinates of different submarine pipelines, so as to obtain different pipe diameter distance information, which is convenient for the subsequent analysis of the sand mining construction risk assessment of the sand mining operation.

[0020] In the second aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A submarine sand mining pit slope change monitoring system, comprising: a method for monitoring the slope change of a submarine sand mining pit as described above, the system comprising: The pipeline information acquisition module is used to identify the submarine pipelines in the target submarine sand mining area and obtain the corresponding pipeline attribute parameters of the submarine pipelines; according to the GIS of the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines, a submarine pipeline distribution map of the target submarine sand mining area is generated; A slope unit generation module is used to collect the slope topography data of the sand mining pit slope and generate a number of slope units in the target seabed sand mining area according to the slope topography data; The disaster risk assessment module is used to identify and obtain the corresponding slope disaster susceptibility assessment index and the corresponding slope disaster risk assessment index based on each slope unit as a basic unit; perform risk calculation based on the slope disaster susceptibility assessment index and the slope disaster risk assessment index to obtain the corresponding disaster risk assessment result; The risk model formulation module is used to obtain the location data of each slope unit, and based on the location data of each slope unit and the corresponding disaster risk assessment results, the submarine pipeline distribution map is associated with all the slope units, and a slope pipeline risk distribution model of the target submarine sand mining area is generated; in the slope pipeline risk distribution model, the slope change trend of the target submarine sand mining area is obtained based on the slope terrain data and disaster risk assessment results of each slope unit in different data collection cycles.

[0021] By adopting the above technical scheme, in the process of monitoring the changes of submarine sand mining pits, in order to facilitate the analysis and evaluation of the impact of sand mining pits on adjacent submarine pipelines, the distribution of submarine pipelines in the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines are first identified, and a submarine pipeline distribution map is generated based on the GIS of the target submarine sand mining area. The distribution of the submarine pipelines and the corresponding spatial position information can be obtained through the submarine pipeline distribution map. Then, the slope topographic data of the slope of the sand mining pit is collected and acquired, and the slope topographic data of the slope of the sand mining pit is used to construct the slope gradient of the target submarine sand mining area, and the evaluation unit divided by the valley surface of the slope contour line is constructed, which is the unstable evaluation area of ​​the submarine sand mining pit and belongs to the area prone to slope landslides; specifically, the slope unit is used as the geological disaster evaluation unit of the submarine sand mining pit, and the disaster susceptibility and disaster hazard of the sand mining pit slope are used to evaluate the disaster risk of each slope unit in the process of disaster risk evaluation, so as to improve the accuracy of the disaster risk evaluation result of the submarine sand mining pit.

[0022] Furthermore, in order to provide an intuitive and reliable method for monitoring the changes of the slopes of submarine sand mining pits, the position data of each slope unit in the submarine sand mining pit and the disaster risk assessment results are used to generate a slope pipeline risk distribution model for the target submarine sand mining area in a corresponding manner, so that it is convenient to obtain the degree of influence of the sand mining pit operation on the submarine pipeline through the slope pipeline risk distribution model; since in the actual slope change monitoring operation, the data collection of the slope terrain data will be regularly carried out based on the preset collection time period, the changes in the slope terrain data of each slope unit in different data collection periods and the changes in the disaster risk assessment results can be used to obtain the slope change trend of the submarine sand mining pit through the slope pipeline risk distribution model, which is convenient for detecting the slope change process of the submarine sand mining pit and improving the monitoring efficiency of the slope change of the submarine sand mining pit; through the disaster risk assessment results of the slope unit, it is beneficial for sand mining workers to take necessary risk prevention measures in advance when carrying out sand mining operations in the sand mining pit, such as avoiding areas with a high possibility of slope landslides, which is beneficial to ensuring the personal safety of sand mining workers and improving the sand mining efficiency of submarine sand mining pits.

[0023] In the third aspect, the invention objective of this application is achieved by adopting the following technical solutions: An intelligent device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method for monitoring the slope changes of a seabed sand mining pit are implemented.

[0024] In a fourth aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for monitoring the slope changes of a seabed sand mining pit are implemented.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. In the process of monitoring the changes of submarine sand mining pits, in order to facilitate the analysis and evaluation of the impact of sand mining pits on adjacent submarine pipelines, the slope unit is first used as the geological disaster assessment unit of the submarine sand mining pit. From the two evaluation factors of disaster susceptibility and disaster hazard of the sand mining pit slope, in the process of disaster risk assessment, a comprehensive analysis is performed to obtain the disaster risk assessment results of each slope unit, thereby improving the accuracy of the disaster risk assessment results of the submarine sand mining pit; further, in order to provide an intuitive and reliable method for monitoring the changes of submarine sand mining pit slopes, the position data of each slope unit in the submarine sand mining pit and the disaster risk assessment results are used to generate a slope pipeline risk distribution model for the target submarine sand mining area, thereby facilitating the monitoring of the changes of the submarine sand mining pit slopes through the correlation between the slope unit and the disaster risk assessment results, thereby facilitating the monitoring of the changes of the submarine sand mining pit slopes through the slope unit. The slope pipeline risk distribution model can learn the impact of sand mining pit operations on submarine pipelines. In actual slope change monitoring operations, slope terrain data will be collected regularly based on the preset collection time period. Therefore, the changes in slope terrain data of each slope unit in different data collection periods and the changes in disaster risk assessment results can be used to obtain the slope change trend of the submarine sand mining pit through the slope pipeline risk distribution model, which is convenient for detecting the slope change process of the submarine sand mining pit and improving the monitoring efficiency of the slope changes of the submarine sand mining pit. The disaster risk assessment results of the slope unit are helpful for sand mining operators to take necessary risk prevention measures in advance when conducting sand mining operations in the sand mining pit, such as avoiding slope Areas with a high possibility of landslides are conducive to ensuring the personal safety of sand mining workers and improving the efficiency of sand mining operations in submarine sand mining pits; 2. The construction risk assessment results of several sand mining construction locations are analyzed using a comprehensive risk factor analysis method. The comprehensive risk factors include submarine pipelines within different distance ranges, pipeline types of submarine pipelines, and submarine topographic environmental data of the surrounding submarine environment within different distance ranges. That is, when sand mining workers conduct construction risk assessments on sand mining operations, they need to consider the distance between the sand mining construction location and the submarine pipeline. Therefore, it is necessary to calculate the distance between the construction location and multiple submarine pipelines based on the actual sand mining construction location and the distribution location parameters of the submarine pipeline, in order to obtain different The same pipe diameter distance information, based on the different types of submarine pipelines and the same distances between the construction location, the construction risk thresholds divided are also different, that is, the pipeline types of different submarine pipelines at the same construction location and the construction risk thresholds divided by different submarine terrain and environmental data are not the same. Therefore, it is necessary to obtain the corresponding construction risk threshold based on the actual submarine pipeline type, submarine terrain and environmental data of the target submarine sand mining area and the corresponding sand mining construction distance to obtain the corresponding construction risk assessment result, which is conducive to improving the risk classification accuracy of submarine sand mining operations, and providing intelligent prediction of construction risks for sand mining operations of sand mining operators, so as to effectively avoid digging through or damaging submarine pipelines during sand mining operations; 3. From the perspective of data error analysis, data processing methods such as data analysis and filtering are proposed to improve the measurement accuracy of GPS measurement devices and three-dimensional laser scanning devices. Specifically, data errors mainly include systematic errors, gross errors and random errors. Systematic errors are tool errors, adjustment errors, method errors, etc. The sources of gross errors are the use of defective measuring instruments, sudden changes in the indication of instruments due to external interference, etc. Random errors are caused by the influence of the measurement environment and measurement personnel. First, the GPS measurement device and the three-dimensional laser scanning device are set to continuously collect measurement data for 3 or more times in the sequential collection cycle, and then the mean error data is compared with the preset mean error data. The error threshold is compared. When the mean error data is greater than the mean error threshold, it indicates that the collected measurement data does not meet the relevant data collection standards. Otherwise, it meets the requirements of the data collection standards. The gross error data screened out are deleted through the gross error criterion, that is, the invalid data is deleted. At this time, the current mean error data is recalculated. If the current mean error data is still greater than the preset mean error threshold, the driven mutation point detection method is used to analyze the change trend of the collected measurement data to measure the change state of the measured target (the three-dimensional coordinate data of the target tracking point and the slope), improve the change detection efficiency of the seabed sand mining pit side pit, and improve the measurement accuracy of the collected measurement data of the sand mining pit changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a flow chart of a method for monitoring the slope changes of a seabed sand mining pit in one embodiment of the present application; Figure 2 This is a flow chart of step S2 in a method for monitoring changes in a seabed sand pit slope in one embodiment of the present application; Figure 3 This is a flow chart after step S4 in a method for monitoring changes in a seabed sand mining pit slope in one embodiment of the present application; Figure 4 This is another flow chart of a method for monitoring slope changes in a seabed sand pit in one embodiment of the present application; Figure 5 This is another flow chart after step S4 in a method for monitoring changes in a seabed sand mining pit slope in one embodiment of the present application; Figure 6 This is another flow chart of a method for monitoring changes in a seabed sand mining pit slope in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings.

[0028] In one embodiment, if Figure 1 As shown, the present application discloses a method for monitoring the slope changes of a seabed sand mining pit, which specifically includes the following steps: S1: Identify the submarine pipelines in the target submarine sand mining area and obtain the corresponding pipeline attribute parameters of the submarine pipelines; according to the GIS of the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines, generate a submarine pipeline distribution map of the target submarine sand mining area.

[0029] In this embodiment, the target seabed sand mining area is the sand mining pit slope area where the sand mining pit slope changes are to be detected, and the pipeline attribute parameters of the submarine pipeline include the pipeline rationality, pipeline size, and pipeline distribution shape and structure data of the submarine pipeline; the GIS of the target seabed sand mining area refers to the GIS map.

[0030] Specifically, different types of submarine pipelines may have different buried depths and different sizes. Different submarine pipelines may also have more complex distribution shape structures due to the submarine topography and environment. The submarine pipeline distribution map can be used to obtain the complexity of the distribution of submarine pipelines in the target submarine sand mining area, as well as information such as the specific pipeline distribution shape.

[0031] S2: Collect the slope topography data of the sand mining pit slope, and generate a number of slope units in the target seabed sand mining area according to the slope topography data.

[0032] In this embodiment, the slope topography data refers to the geographical data and topographic data of the geological area of ​​the seabed sand mining pit to be monitored, such as the slope topography data of the altitude, geographical environment, longitude and latitude, slope landform, slope corners, etc. of the slope of the sand mining pit.

[0033] Specifically, the slope unit is used as the basic evaluation unit. The slope unit is a geological area with a higher risk of landslide in the target seabed sand mining area. It can well restore the slope shape and topography of the local slope area, so as to improve the monitoring accuracy of the slope changes of the seabed sand mining pit.

[0034] S3: Taking each slope unit as a basic unit, identify and obtain the corresponding slope disaster susceptibility assessment index and the corresponding slope disaster risk assessment index; perform risk calculation based on the slope disaster susceptibility assessment index and the slope disaster risk assessment index to obtain the corresponding disaster risk assessment result.

[0035] In this embodiment, the slope disaster susceptibility evaluation index is an index of the susceptibility of the slope unit to geological disasters, and the slope disaster risk evaluation index refers to the risk level of the slope unit in a certain area and a certain time period under certain inducing factors to a certain scale and type of geological disaster.

[0036] Specifically, the slope hazard susceptibility evaluation index is obtained by evaluating the slope hazard susceptibility evaluation factor data collected historically, such as slope gradient, slope shape, slope contour, water level height change in the catchment area, etc. After assigning different weight values ​​to each slope hazard susceptibility evaluation factor data, in actual operation, after assigning values ​​in accordance with the "Geological Hazard Evaluation Requirements", the slope hazard susceptibility evaluation index of the slope unit is calculated using a comprehensive index calculation method; similarly, the slope hazard risk evaluation index is obtained by evaluating the slope hazard risk evaluation factors of the historical working condition data of the sand mining pit slope, the slope nail foot data, the slope gradient of the sand mining pit slope, and the seabed topography and geomorphology data, after assigning different weight values ​​to each slope hazard risk evaluation factor, the slope hazard risk evaluation index of the slope unit is calculated using a comprehensive index calculation method; in actual application, it can be obtained by assigning values ​​to the slope hazard susceptibility evaluation factors and slope hazard risk evaluation factors based on the historical monitoring and collection data by experts in related fields and then calculating in advance.

[0037] S4: Obtain the location data of each slope unit, and based on the location data of each slope unit and the corresponding disaster risk assessment results, associate the submarine pipeline distribution map with all the slope units, and generate a slope pipeline risk distribution model for the target submarine sand mining area.

[0038] In this embodiment, in order to provide an intuitive and reliable method for monitoring changes in the slopes of submarine sand mining pits, the location data of each slope unit in the submarine sand mining pit and the disaster risk assessment results are used to generate a slope pipeline risk distribution model for the target submarine sand mining area, thereby facilitating the understanding of the impact of sand mining pit operations on submarine pipelines through the slope pipeline risk distribution model.

[0039] S5: In the slope pipeline risk distribution model, the slope change trend of the target seabed sand mining area is obtained based on the slope topographic data and disaster risk assessment results of each slope unit in different data collection cycles.

[0040] Specifically, in actual slope change monitoring operations, slope terrain data will be collected regularly based on a preset collection time period. Therefore, changes in slope terrain data of each slope unit within different data collection periods and changes in disaster risk assessment results can be obtained through the slope pipeline risk distribution model to obtain the slope change trend of the submarine sand mining pit, which is convenient for detecting the slope change process of the submarine sand mining pit and improves the efficiency of monitoring the changes in the submarine sand mining pit slope. The disaster risk assessment results of the slope unit are helpful for sand mining workers to take necessary risk prevention measures in advance when carrying out sand mining operations in the sand mining pit, such as avoiding areas with a high possibility of slope landslides, which is beneficial to ensuring the personal safety of sand mining workers and improving the sand mining efficiency of submarine sand mining pits.

[0041] In one embodiment, if Figure 2 As shown, in step S2, the slope topographic data of the sand mining pit slope is collected, and a number of slope units are generated in the target seabed sand mining area according to the slope topographic data, specifically including: S21: collecting the slope topography data of the sand mining pit slope according to a preset period, performing data preprocessing on the slope topography data, and obtaining the processed slope topography data of the sand mining pit slope.

[0042] In this embodiment, the collected slope topography data of the sand mining pit slope is preprocessed by denoising, smoothing and data repair of null values ​​to improve the analysis precision and accuracy of subsequent slope units.

[0043] S22: Based on the processed slope topography data of the sand mining pit slope, positive and negative depressions are filled to generate a corresponding water flow direction map; water flow confluence data is calculated according to the water flow direction map, and a watershed is generated.

[0044] In this embodiment, the processed slope terrain data is used to apply the hydrological analysis tool in ArcGIS to perform positive depression filling and reverse depression filling.

[0045] S23: Obtain corresponding side slope gradient data according to the location data of the catchment basin; and compare the side slope gradient data with a preset gradient threshold.

[0046] Forward depression filling refers to finding low-lying points from the surrounding area and injecting water into them, gradually filling the entire depression area. Reverse depression filling refers to filling isolated areas on plateaus or mountain tops to form a geological map of the area after filling (i.e., water flow direction map). The drainage path and isolated areas of the water flow on the slope of the sand mining pit are calculated based on the water flow direction map. The catchment basin refers to the boundary of the basin, which characterizes the range of water flow collection in a specific area.

[0047] In this embodiment, the slope threshold is a slope angle threshold, such as 4.3°.

[0048] S24: when the slope gradient data of the catchment basin is greater than or equal to a preset slope gradient threshold, an initial slope unit is generated; and the initial slope unit is modified according to the slope terrain data to obtain a plurality of slope units.

[0049] In this embodiment, based on the slope value of the slope gradient data, it can be determined whether the current sand mining pit slope is in an unstable state. That is, when the slope gradient data of the catchment basin is determined to be greater than or equal to the slope threshold, it indicates that the current catchment basin is in an unstable state. Then, an initial slope unit is generated, and then the initial slope unit is corrected according to the actual regional geological conditions to obtain the slope unit required for analysis, thereby achieving the effect of dividing the slope geological area with a higher risk of slope landslide.

[0050] In one embodiment, if Figure 3 As shown, after step S4, the monitoring of the slope change of the seabed sand mining pit further includes: S41: A monitoring center pile and multiple monitoring piles arranged at intervals are set in the target seabed sand mining area. The multiple monitoring piles are arranged around the monitoring center pile. GPS measuring devices are set at the monitoring points of the monitoring center pile and the multiple monitoring piles.

[0051] Specifically, the monitoring center pile is set at the center point of the central axis of the target seabed sand mining area, and the GPS measuring device is a GPS receiver.

[0052] S42: Based on a preset first acquisition cycle, three-dimensional coordinate data of each monitoring point obtained in a set time period by GPS static monitoring, and coordinate displacement change information is calculated based on the three-dimensional coordinate data of each monitoring point.

[0053] In this embodiment, the first collection cycle is provided with a collection time interval and a single collection duration. For example, the single collection duration of each static monitoring of GPS is 40 minutes.

[0054] S43: Based on the preset second acquisition cycle, a three-dimensional laser scanning device is installed on the monitoring center pile, and within the monitoring scanning range of the three-dimensional laser scanning device, a plurality of target tracking points are locked in the monitoring points of the plurality of monitoring piles.

[0055] In this embodiment, the three-dimensional laser scanning device is a three-dimensional laser scanner, and a plurality of target tracking points are located within the detection scanning range of the three-dimensional laser scanner.

[0056] S44: Obtain slope deformation information corresponding to each target tracking point of the sand mining pit slope based on the slope scanning data of the three-dimensional laser scanning device.

[0057] Specifically, the point cloud data obtained by the three-dimensional laser scanning device at each monitoring point is imported into the three-dimensional coordinate system, and the slope scanning data of the three-dimensional coordinate points of each target tracking point measured initially and the slope scanning data of the three-dimensional coordinate points of each target tracking point measured subsequently are subtracted to obtain the slope deformation information of each target tracking point. The present application organically combines GPS monitoring and positioning with three-dimensional laser scanning technology, and obtains the displacement change of the three-dimensional coordinates of each monitoring point on the surface of the sand mining pit slope by obtaining the coordinate displacement change information of the sand mining pit slope. At the same time, through the slope deformation information of several target tracking points, the slope deformation of the target seabed sand mining area can be obtained, thereby realizing accurate monitoring and prediction of geological disasters on the sand mining pit slope, and improving the intelligent prediction effect of monitoring the sand mining pit slope.

[0058] In one embodiment, if Figure 4 As shown, the method for monitoring the slope change of a seabed sand mining pit also includes: S101: Obtain the current water level change data of the sand mining pit slope.

[0059] Specifically, the GPS measuring device is also used to measure the change in water level elevation of the slope of the sand mining pit. The water level change data is the rate of change data of the water level elevation within the same acquisition time period of the water level measurement data.

[0060] S102: Acquire a corresponding water level change threshold based on the slope topography data of the current sand mining pit slope.

[0061] S103: Compare the water level change data of the sand mining pit slope with the corresponding water level change threshold, and when the water level change data exceeds the preset water level change threshold, adjust the data collection cycle of the slope terrain data of the current sand mining pit slope.

[0062] In this embodiment, the cyclic change of the water level on the slope of the sand mining pit is the main cause of the slope landslide. The increase or decrease of the data collection period of the slope terrain data is determined by detecting the change of the water level elevation of the sand mining pit. For example, the data collection period of the slope terrain data is proportional to the amount and rate of change of the water level. This facilitates the monitoring of the sand mining pit slope and improves the measurement accuracy of the measurement data of the sand mining pit slope.

[0063] In one embodiment, if Figure 5 As shown, after step S4, the method for monitoring the slope changes of submarine sand mining pits also includes: S401: determining a number of different sand mining construction locations based on the acquired sand mining risk assessment instructions, obtaining the distribution position parameters and pipeline types of submarine pipelines in different distance ranges according to the submarine pipeline distribution map and the several sand mining construction locations, and obtaining the submarine terrain environment data in different distance ranges.

[0064] Specifically, the sand mining risk assessment instructions are instructions input by sand mining workers through the change monitoring system; the seabed topography and environmental data are seabed topography and environmental information such as whether there are man-made projects around the sand mining construction.

[0065] S402: Based on several different sand mining construction locations and the distribution position parameters of the submarine pipelines, the distance between each sand mining construction location and several submarine pipelines is calculated to obtain different pipe diameter distance information; based on the different pipe diameter distance information, the corresponding sand mining construction distance is calculated.

[0066] In this embodiment, the sand mining construction distance between the sand mining construction position and a certain submarine pipeline is the distance obtained by subtracting the pipe radius of the submarine pipeline axis and the cross-sectional diameter of the maximum sand mining construction position on the same horizontal plane from the pipe diameter distance information between the two. Therefore, even if the pipe diameter distance information of the same sand mining construction position and the axes of different submarine pipelines is the same, the sand mining construction distance will obtain different construction risk assessment results due to the different pipe radii of different submarine pipelines.

[0067] Specifically, the construction risk assessment results of several sand mining construction locations are analyzed by using a comprehensive risk factor analysis method. The comprehensive risk factors include submarine pipelines within different distance ranges, pipeline types of submarine pipelines, and submarine topographic environmental data of the surrounding submarine environment within different distance ranges. That is, when sand mining workers conduct construction risk assessment of sand mining operations, they need to consider the distance between the sand mining construction location and the submarine pipeline. Furthermore, the construction risk threshold is based on different sand mining construction distances, different submarine pipeline distribution location parameters and pipeline types. Different risk grading factors have different risk severity. For example, if there are gas pipelines and oil pipelines within a sand mining construction distance of 5M, risk grading factors with higher associated weight coefficients are required, while if there are submarine pipelines with high-voltage cables within a sand mining construction distance of 3M, risk grading factors with higher associated weight coefficients are also required.

[0068] S403: Input several different sand mining construction locations, seabed terrain environment data and corresponding sand mining construction distances into the slope pipeline risk distribution model, identify and obtain the construction risk thresholds corresponding to different sand mining construction locations, and divide the risk levels based on the construction risk thresholds to obtain construction risk assessment results.

[0069] In this embodiment, the construction risk assessment result includes multiple risk assessment levels: such as primary assessment risk, secondary assessment risk and tertiary assessment risk.

[0070] When the distances between different types of submarine pipelines and the construction location are the same, the construction risk thresholds divided are also different, that is, the pipeline types of different submarine pipelines at the same construction location and the construction risk thresholds divided by different submarine terrain and environmental data are not the same. Therefore, it is necessary to obtain the corresponding construction risk threshold based on the actual submarine pipeline type, submarine terrain and environmental data of the target submarine sand mining area and the corresponding sand mining construction distance to obtain the corresponding construction risk assessment result, which is conducive to improving the risk classification accuracy of submarine sand mining operations in submarine sand mining pits, and providing intelligent prediction of construction risks for sand mining operations of sand mining operators, so as to effectively avoid digging through or damaging submarine pipelines during sand mining operations.

[0071] In one embodiment, if Figure 6As shown, the method for monitoring the slope change of a seabed sand mining pit also includes: S111: input the measured three-dimensional coordinate data and slope scanning data of each monitoring point into a preset observation processing data set, which stores historical measurement data, and calculates the monitoring mean data and corresponding mean error data corresponding to the three-dimensional coordinate data and slope scanning data based on the historical measurement data.

[0072] In this embodiment, data processing methods such as data analysis and filtering are proposed from the perspective of data error analysis to improve the measurement accuracy of GPS measuring devices and three-dimensional laser scanning devices. Specifically, data errors mainly include systematic errors, gross errors and random errors. Systematic errors are tool errors, adjustment errors, method errors, etc.; the sources of gross errors are the use of defective measuring instruments, sudden changes in indications caused by external interference of instruments, etc.; random errors are caused by the influence of the measurement environment and measurement personnel.

[0073] S112: If the mean error data of the three-dimensional coordinate data or the slope scanning data is less than the preset mean error threshold, the corresponding monitoring mean data is output to the preset data monitoring terminal; if the mean error data of the three-dimensional coordinate data or the slope scanning data is greater than the preset mean error threshold, additional measurement data is collected.

[0074] Specifically, first, the GPS measuring device and the three-dimensional laser scanning device are set to continuously collect measurement data for three or more times in successive collection cycles, and then the mean error data is compared with a preset mean error threshold. When the mean error data is greater than the mean error threshold, it indicates that the collected measurement data does not meet the relevant data collection standards, otherwise it meets the requirements of the data collection standards.

[0075] S113: judging and filtering the added measurement data according to a preset gross error criterion; if the measurement data in the filtered observation processing data set is less than a preset quantity threshold, then collecting additional measurement data.

[0076] In this embodiment, the gross error judgment criterion is the Lomnaofski criterion, and the quantity threshold is 4. The quantity threshold can be determined according to actual conditions, such as 4 or more, which is conducive to the user to adjust the total amount of judgment quantity of the gross error judgment criterion according to actual needs, and the gross error data screened out by the gross error criterion is deleted, that is, the invalid data is deleted.

[0077] S114: Recalculate the current mean error data. If the current mean error data is still greater than the preset mean error threshold, use the preset driving mutation point detection method to analyze the change trend of the collected measurement data to obtain trend change information; if the current mean error data is less than the preset mean error threshold, output the corresponding monitoring mean data to the preset data monitoring terminal.

[0078] Specifically, after deleting the invalid data, the current mean error data is recalculated. If the current mean error data is still greater than the preset mean error threshold, the driven mutation point detection method is used to analyze the change trend of the collected measurement data to measure the change state of the measured target (the three-dimensional coordinate data of the target tracking point and the slope), improve the change detection efficiency of the seabed sand mining pit side pit, and improve the measurement accuracy of the collected measurement data of the sand mining pit changes.

[0079] In one embodiment, step S402 specifically includes: Based on several different sand mining construction positions, the point coordinate data (x i ,y i , z i ), based on the distribution position parameters of several submarine pipelines, the point coordinate data of multiple axes are obtained along the axes of multiple submarine pipelines in turn (x j ,y j , z j ); The distance between the sand mining construction location and the submarine pipeline is calculated by formula (1): Let S be the distance between the sand mining construction location and the submarine pipeline. Select a starting point of a sand mining construction location to establish the X-axis, Y-axis and Z-axis. Let X ′ is the distance between the center axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the X axis, ′ is the distance between the central axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the Y axis, ′ D is the distance between the central axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the Z axis. k is the specified cross-sectional diameter at the construction location, R g is the pipe radius of the sand mining construction location; where D k It is a specified cross-sectional diameter at the same level as the construction location of sand mining, such as the maximum cross-sectional diameter.

[0080] in, Calculated by formula (2), formula (3) and formula (4) respectively: Among them, y1 is the distance between the point coordinates of the central axis of the construction position and the starting point of the sand mining construction position on the Y axis, and y2 is the distance between the point coordinates of the axis of the submarine pipeline and the starting point of the sand mining construction position on the Y axis; the horizontal angle α is the angle between the starting point of the construction position to the axis of the construction position and the projection of the axis of the submarine pipeline on the horizontal plane; the vertical angle β refers to the angle between the distance line between the starting point of the central axis of the construction position and the coordinate point of the submarine pipeline and the horizontal plane; x1 is the distance between the point coordinates of the central axis of the construction position and the starting point of the sand mining construction position on the X axis; x2 is the distance between the point coordinates of the axis of the submarine pipeline and the starting point of the sand mining construction position on the X axis.

[0081] In this embodiment, formulas (2), (3) and (4) are first used to calculate the distances between the central axis of several sand mining construction locations and the axis point coordinates of the submarine pipeline on the X-axis and Y-axis, so as to calculate the distances between the central axis point coordinates of different sand mining construction locations and the axis point coordinates of different submarine pipelines, so as to obtain different pipe diameter distance information, which is convenient for subsequent analysis of sand mining construction risk assessment of sand mining operations.

[0082] It should be understood that the serial numbers of the steps in the above embodiments do not imply a sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0083] In one embodiment, a submarine sand mining pit slope change monitoring system is provided, and the submarine sand mining pit slope change monitoring system corresponds to the submarine sand mining pit slope change monitoring method in the above embodiment. A submarine sand mining pit slope change monitoring system includes a pipeline information collection module, a slope unit generation module, a slope unit generation module and a disaster risk assessment module. The detailed description of each functional module is as follows: Submarine sand mining pit slope change monitoring system, the system includes: The pipeline information acquisition module is used to identify the submarine pipelines in the target submarine sand mining area and obtain the corresponding pipeline attribute parameters of the submarine pipelines; according to the GIS of the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines, a submarine pipeline distribution map of the target submarine sand mining area is generated; A slope unit generation module is used to collect the slope topography data of the sand mining pit slope and generate a number of slope units in the target seabed sand mining area according to the slope topography data; The disaster risk assessment module is used to identify and obtain the corresponding slope disaster susceptibility assessment index and the corresponding slope disaster risk assessment index based on each slope unit as a basic unit; perform risk calculation based on the slope disaster susceptibility assessment index and the slope disaster risk assessment index to obtain the corresponding disaster risk assessment result; The risk model formulation module is used to obtain the location data of each slope unit, and based on the location data of each slope unit and the corresponding disaster risk assessment results, the submarine pipeline distribution map is associated with all the slope units, and a slope pipeline risk distribution model of the target submarine sand mining area is generated; in the slope pipeline risk distribution model, the slope change trend of the target submarine sand mining area is obtained based on the slope terrain data and disaster risk assessment results of each slope unit in different data collection cycles.

[0084] For the specific limitations of the submarine sand mining pit slope change monitoring system, please refer to the limitations of the submarine sand mining pit slope change monitoring method mentioned above, which will not be repeated here; each module in the above-mentioned submarine sand mining pit slope change monitoring system can be fully or partially implemented by software, hardware and their combination; each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0085] In one embodiment, an intelligent device is provided, which may be a server. The intelligent device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the intelligent device is used to provide computing and control capabilities. The memory of the intelligent 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 database of the intelligent device is used to store collected measurement data, a slope pipeline risk distribution model, etc. The network interface of the intelligent device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for monitoring the slope changes of a seabed sand mining pit is implemented.

[0086] In one embodiment, an intelligent device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps described in a method for monitoring changes in a seabed sand mining pit slope are implemented.

[0087] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps described in a method for monitoring changes in a seabed sand mining pit slope are implemented.

[0088] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. 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.

[0089] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0090] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the features thereof may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for monitoring the slope changes of a seabed sand mining pit, characterized in that: include: Identify the submarine pipelines in the target submarine sand mining area and obtain the corresponding pipeline attribute parameters of the submarine pipelines; formulate and generate a submarine pipeline distribution map of the target submarine sand mining area based on the GIS of the target submarine sand mining area and the pipeline attribute parameters of the submarine pipelines; Collecting slope topographic data of the sand mining pit slope, and generating a plurality of slope units in the target seabed sand mining area according to the slope topographic data; Taking each slope unit as a basic unit, identify and obtain the corresponding slope disaster susceptibility evaluation index and the corresponding slope disaster risk evaluation index; Performing risk calculation according to the slope disaster susceptibility assessment index and the slope disaster risk assessment index to obtain a corresponding disaster risk assessment result; Acquire the position data of each slope unit, and based on the position data of each slope unit and the corresponding disaster risk assessment result, associate the submarine pipeline distribution map with all the slope units, and generate a slope pipeline risk distribution model of the target submarine sand mining area; In the slope pipeline risk distribution model, based on the slope topographic data and disaster risk assessment results of each slope unit in different data collection cycles, the slope change trend of the target seabed sand mining area is obtained.

2. A method for monitoring the slope changes of a seabed sand mining pit according to claim 1, characterized in that: The method of collecting the slope topography data of the sand mining pit slope and generating a plurality of slope units in the target seabed sand mining area according to the slope topography data specifically includes: Collecting the slope topography data of the sand mining pit slope according to a preset period, performing data preprocessing on the slope topography data, and obtaining processed slope topography data of the sand mining pit slope; Based on the processed slope topography data of the sand mining pit slope, positive and negative depressions are filled to generate a corresponding water flow direction map; the water flow confluence data is calculated according to the water flow direction map, and a water catchment basin is generated; Acquire corresponding side slope gradient data according to the location data of the watershed; compare the side slope gradient data with a preset gradient threshold; When the slope gradient data of the watershed is greater than or equal to a preset slope threshold, an initial slope unit is generated; and the initial slope unit is corrected according to the slope terrain data to obtain a plurality of slope units.

3. A method for monitoring the slope changes of a seabed sand mining pit according to claim 1, characterized in that: After obtaining the position data of each slope unit, and correlating the submarine pipeline distribution map with all the slope units based on the position data of each slope unit and the corresponding disaster risk assessment result, and generating the slope pipeline risk distribution model of the target submarine sand mining area, the method includes: A monitoring center pile and a plurality of monitoring piles arranged at intervals are set in the target seabed sand mining area, and the plurality of monitoring piles are arranged around the monitoring center pile, and the monitoring points of the monitoring center pile and the plurality of monitoring piles are all provided with GPS measuring devices; Based on a preset first acquisition cycle, three-dimensional coordinate data of each monitoring point obtained in a set time period by a GPS static monitoring method is obtained, and coordinate displacement change information is calculated based on the three-dimensional coordinate data of each monitoring point; Based on the preset second acquisition cycle, a three-dimensional laser scanning device is installed on the monitoring center pile, and within the monitoring scanning range of the three-dimensional laser scanning device, a plurality of target tracking points are locked in the monitoring points of the plurality of monitoring piles; According to the slope scanning data of the three-dimensional laser scanning device, the slope deformation information corresponding to each target tracking point of the sand mining pit slope is obtained.

4. A method for monitoring the slope changes of a seabed sand mining pit according to claim 3, characterized in that: The GPS measuring device is also used to measure the water level elevation change of the sand mining pit slope; and also includes: Get the current water level change data of the sand mining pit slope, Obtaining a corresponding water level change threshold based on the slope topography data of the current sand mining pit slope; The water level change data of the sand mining pit slope is compared with the corresponding water level change threshold. When the water level change data exceeds the preset water level change threshold, the data collection cycle of the slope terrain data of the current sand mining pit slope is adjusted.

5. A method for monitoring the slope changes of a seabed sand mining pit according to claim 1, characterized in that: After obtaining the position data of each slope unit, and correlating the submarine pipeline distribution map with all the slope units based on the position data of each slope unit and the corresponding disaster risk assessment result, and generating the slope pipeline risk distribution model of the target submarine sand mining area, the method further includes: Determine a number of different sand mining construction locations based on the obtained sand mining risk assessment instructions, obtain the distribution position parameters and pipeline types of submarine pipelines in different distance ranges according to the submarine pipeline distribution map and the number of sand mining construction locations, and obtain submarine terrain environment data in different distance ranges; Based on a plurality of different sand mining construction positions and the distribution position parameters of the submarine pipelines, the distances between each sand mining construction position and a plurality of submarine pipelines are calculated to obtain different pipe diameter distance information; based on the different pipe diameter distance information, the corresponding sand mining construction distances are calculated; Several different sand mining construction locations, seabed terrain environment data and corresponding sand mining construction distances are input into the slope pipeline risk distribution model to identify and obtain the construction risk thresholds corresponding to different sand mining construction locations. The risk levels are divided based on the construction risk thresholds to obtain the construction risk assessment results.

6. A method for monitoring the slope changes of a seabed sand mining pit according to claim 3, characterized in that: Also includes: Input the measured three-dimensional coordinate data and slope scanning data of each monitoring point into a preset observation processing data set, wherein the observation processing data set stores historical measurement data, and calculates the monitoring mean data and corresponding mean error data corresponding to the three-dimensional coordinate data and the slope scanning data based on the historical measurement data; If the mean error data of the three-dimensional coordinate data or the slope scanning data is less than the preset mean error threshold, the corresponding monitoring mean data is output to the preset data monitoring terminal; if the mean error data of the three-dimensional coordinate data or the slope scanning data is greater than the preset mean error threshold, additional measurement data is collected; The added measurement data is judged and filtered according to a preset gross error criterion; if the measurement data in the observation processing data set after the judgment and filtering is less than a preset quantity threshold, additional measurement data is collected; Recalculate the current mean error data. If the current mean error data is still greater than the preset mean error threshold, use the preset driving mutation point detection method to analyze the change trend of the collected measurement data to obtain trend change information; if the current mean error data is less than the preset mean error threshold, output the corresponding monitoring mean data to the preset data monitoring terminal.

7. A method for monitoring the slope changes of a seabed sand mining pit according to claim 5, characterized in that: The distance between each sand mining construction location and a plurality of submarine pipelines is calculated based on a plurality of different sand mining construction locations and the distribution position parameters of the submarine pipelines to obtain different pipe diameter distance information, specifically including: At several different sand mining construction locations, the point coordinate data (x i ,y i , z i ), based on the distribution position parameters of the plurality of submarine pipelines, sequentially obtain the point coordinate data of the plurality of axes along the axes of the plurality of submarine pipelines (x j ,y j , z j ); The distance between the sand mining construction location and the submarine pipeline is calculated by formula (1): Let S be the distance between the sand mining construction location and the submarine pipeline. Select a starting point of a sand mining construction location to establish the X-axis, Y-axis and Z-axis. Let X ′ is the distance between the center axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the X axis, ′ is the distance between the central axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the Y axis, ′ D is the distance between the central axis coordinate of the construction location and the axis coordinate of the submarine pipeline on the Z axis. k is the specified cross-sectional diameter at the construction location, R g is the pipe radius of the construction location of sand mining; Among them, X ′ 2 , Y ′ 2 , Z ′ 2 Calculated by formula (2), formula (3) and formula (4) respectively: Among them, y1 is the distance between the point coordinates of the central axis of the construction position and the starting point of the sand mining construction position on the Y axis, and y2 is the distance between the point coordinates of the axis of the submarine pipeline and the starting point of the sand mining construction position on the Y axis; the horizontal angle α is the angle between the starting point of the construction position to the axis of the construction position and the projection of the axis of the submarine pipeline on the horizontal plane; the vertical angle β refers to the angle between the distance line between the starting point of the central axis of the construction position and the coordinate point of the submarine pipeline and the horizontal plane; x1 is the distance between the point coordinates of the central axis of the construction position and the starting point of the sand mining construction position on the X axis; x2 is the distance between the point coordinates of the axis of the submarine pipeline and the starting point of the sand mining construction position on the X axis.

8. A seabed sand mining pit slope change monitoring system, characterized in that: include: The pipeline information acquisition module is used to identify the submarine pipelines in the target submarine sand mining area and obtain the pipeline attribute parameters of the corresponding submarine pipelines; According to the GIS of the target submarine sand mining area and the pipeline attribute parameters of the submarine pipeline, a submarine pipeline distribution map of the target submarine sand mining area is generated; A slope unit generation module is used to collect the slope topography data of the sand mining pit slope and generate a number of slope units in the target seabed sand mining area according to the slope topography data; The disaster risk assessment module is used to identify and obtain the corresponding slope disaster susceptibility assessment index and the corresponding slope disaster hazard assessment index with each slope unit as the basic unit; According to the slope disaster susceptibility assessment index and slope disaster risk assessment index, the risk calculation is performed to obtain the corresponding disaster risk assessment results; The risk model formulation module is used to obtain the location data of each slope unit, and based on the location data of each slope unit and the corresponding disaster risk assessment results, the submarine pipeline distribution map is associated with all the slope units, and a slope pipeline risk distribution model of the target submarine sand mining area is generated; in the slope pipeline risk distribution model, the slope change trend of the target submarine sand mining area is obtained based on the slope terrain data and disaster risk assessment results of each slope unit in different data collection cycles.

9. An intelligent device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for monitoring the slope changes of a seabed sand mining pit as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a method for monitoring the slope changes of a seabed sand mining pit as described in any one of claims 1 to 7 are implemented.

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