Satellite real-time 3D monitoring and safety hazard early warning system for open-pit mines and tailings ponds

Abstract

The present invention belongs to the field of safety early warning technology, and provides a satellite real-scene three-dimensional monitoring and safety hazard early warning system applied to open-pit mines and tailings ponds, including: a monitoring point data acquisition module, used to obtain geographical location information data of target monitoring points of open-pit mines and tailings ponds; a satellite real-scene three-dimensional product acquisition module, used to collect satellite remote sensing images and generate satellite real-scene three-dimensional products for target monitoring points based on satellite real-scene three-dimensional technology; a safety hazard monitoring and early warning module, used to analyze, troubleshoot and warn of safety hazards in production operations of open-pit mines and tailings ponds based on satellite real-scene three-dimensional products and according to a set standard database. The present invention uses the satellite real-scene three-dimensional technology to obtain the real-scene data of the target monitoring points based on the geographical location information data of the target monitoring points of open-pit mines and tailings ponds, and analyzes them, so as to improve the level of troubleshooting and early warning of production safety hazards in open-pit mines and tailings ponds.

Description

Technical Field

[0001] The present invention relates to the technical field of safety early warning, and in particular to a satellite real-scene three-dimensional monitoring and safety hazard early warning system applied to open-pit mines and tailings ponds. Background Art

[0002] With the development of science and technology, satellite remote sensing technology plays an important role in the fields of geographic information acquisition, urban planning, environmental monitoring, etc. with its advantages of wide coverage, fast information acquisition speed and large data volume; Satellite real-scene 3D is a satellite real-scene 3D image product formed by data processing based on multi-perspective images collected by high-resolution, high-precision and ultra-agile remote sensing satellites; Satellite real-scene 3D can carry various spatial information such as oblique photography, satellite radar, ground monitoring information such as ground sensors and GNSS, as well as various graphic information, equipment attribute information, etc. with its accurate spatial positioning and information carrying capacity. It is one of the most commonly used digital base technologies for digital twin application scenarios in many fields; Satellite real-scene 3D can perform accurate analysis and calculation of spatiotemporal information and geographic information.

[0003] The existing open-pit mines are small, disorderly and scattered, and the tailings ponds that are in production and resuming work for rectification are also the focus of supervision. Due to the limitations of the terrain and landforms, the control and understanding of the open-pit mine safety operations of these open-pit mines and tailings ponds cannot be comprehensive and thorough. Traditional open-pit mine inspections are mainly manual, and slope inspections are often carried out by drones. Due to the limitations of the terrain and landforms, the control and understanding of the open-pit mine safety operations of these open-pit mines and tailings ponds cannot be comprehensive and thorough. There is insufficient supervision such as inability to see high-altitude operations, inability to reach blind spots, and difficulty in entering dangerous areas. Safety hazards cannot be identified and obtained in a timely and effective manner.

[0004] Therefore, it is necessary to provide a satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds. Summary of the invention

[0005] The present invention provides a satellite real-scene three-dimensional monitoring and safety hazard early warning system applied to open-pit mines and tailings ponds. By using the geographical location information data of the target monitoring points of the open-pit mines and tailings ponds, the real-scene data of the target monitoring points are obtained by using satellite real-scene three-dimensional technology, and the real-scene data is analyzed, so as to improve the safety hazard investigation and early warning level of the production operations of the open-pit mines and tailings ponds.

[0006] The present invention provides a satellite real-scene three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds, including:

[0007] Monitoring point data acquisition module, used to obtain geographical location information data of target monitoring points of open-pit mines and tailings ponds;

[0008] The satellite real-scene 3D product acquisition module is used to collect satellite remote sensing images of target monitoring points and generate satellite real-scene 3D products based on satellite real-scene 3D technology;

[0009] The safety hazard monitoring and early warning module is used to analyze, investigate and warn of safety hazards in production operations of open-pit mines and tailings ponds based on satellite real-scene 3D products and the set standard database.

[0010] Furthermore, the geographical location information data of the target monitoring points of the open-pit mine and tailings pond are obtained, including:

[0011] Obtain basic geographic location information of open-pit mines and tailings ponds;

[0012] Based on basic geographic location information, satellite remote sensing technology is used to obtain geographic location information data of target monitoring points in open-pit mines and tailings ponds; target monitoring points include but are not limited to slopes, steps and work platforms.

[0013] Furthermore, the satellite real-scene 3D product acquisition module includes a data acquisition preprocessing unit, a satellite real-scene 3D model construction unit and a satellite real-scene 3D product generation unit;

[0014] The data acquisition and preprocessing unit is used to acquire satellite images of the target monitoring points according to the geographical location information data of the target monitoring points, and preprocess the satellite images to obtain training data sets and test data sets;

[0015] A satellite real scene three-dimensional model construction unit, used to construct a satellite real scene three-dimensional model based on a training data set;

[0016] The satellite real scene 3D product generation unit is used to generate satellite real scene 3D products based on the satellite real scene 3D model in combination with the test data set.

[0017] Further, the data acquisition preprocessing unit includes a data acquisition subunit and a data preprocessing subunit;

[0018] The data acquisition subunit is used to acquire satellite images of the target monitoring points based on the geographical location information data of the target monitoring points by using remote sensing satellite technology;

[0019] The data preprocessing subunit is used to preprocess satellite images to generate training data sets and test data sets; the preprocessing includes but is not limited to radiometric calibration and geometric correction of satellite images.

[0020] Furthermore, a satellite real scene three-dimensional model is constructed, including:

[0021] Using image matching technology, the training data set is spliced ​​to form a large-size continuous image;

[0022] Through stereo image pair technology, terrain information is extracted from large-scale continuous images to generate digital elevation models;

[0023] Using digital elevation models and large-size continuous images, real-scene 3D modeling is performed based on 3D modeling software to obtain a satellite real-scene 3D model.

[0024] Furthermore, the safety hazard monitoring and early warning module includes a monitoring and analysis module and an early warning module;

[0025] The monitoring and analysis module is used to compare and analyze the real-life images in the satellite real-life 3D products based on the constructed standard database to obtain monitoring and analysis results;

[0026] The early warning module is used to issue early warning reminders of potential safety risks based on the monitoring and analysis results.

[0027] Further, the monitoring and analysis module includes a standard database construction unit and a matching implementation unit;

[0028] The standard database construction unit is used to use the mine law enforcement inspection RTK mapping equipment combined with drones to map and collect images of target monitoring points, and to build a standard database based on the mapping results and collected images;

[0029] The matching implementation unit is used to compare and analyze the real-scene images in the satellite real-scene three-dimensional product according to the standard database, and obtain the monitoring analysis results according to the comparison and analysis results.

[0030] Furthermore, the mine law enforcement inspection RTK mapping equipment combined with drones is used to map and collect images of target monitoring points. Based on the mapping results and collected images, a standard database is constructed, including:

[0031] Use RTK surveying equipment for mine law enforcement inspection to survey the standard coordinates and standard elevations of target monitoring points to obtain surveying data;

[0032] Use drones with cameras to collect regional images of target monitoring points and obtain regional images of target monitoring points;

[0033] According to the set target recognition model, target recognition is performed on the target monitoring point area image to obtain several key targets corresponding to the target monitoring point; the target recognition model includes a significant target recognition algorithm model based on deep learning and a YOLO deep learning neural network detection model;

[0034] Based on the set three-dimensional feature extraction model, feature extraction is performed on key targets to obtain feature data;

[0035] The feature data is used to supplement and improve the surveying and mapping data to obtain the first surveying and mapping data, and a standard database is constructed based on the first surveying and mapping data and the regional image of the target monitoring point.

[0036] Furthermore, according to the standard database, the real scene images in the satellite real scene 3D product are compared and analyzed, and the monitoring analysis results are obtained according to the comparison and analysis results, including:

[0037] Acquire feature data in the real scene image, and perform a first matching analysis on the feature data and standard feature data in a standard database; the matching analysis includes a precision error comparison analysis of the absolute position and a precision error comparison analysis of the relative position. If the matching analysis does not meet the preset matching analysis result, obtain a first matching analysis result;

[0038] According to the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain a second matching analysis result;

[0039] According to the second matching analysis result, a monitoring analysis result is obtained.

[0040] Further, according to the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain a second matching analysis result, including:

[0041] According to the magnitude of the error values ​​of the absolute position accuracy error and the relative position accuracy error, cluster analysis of the error values ​​is performed to obtain cluster analysis results; the cluster analysis is: clustering the distribution of the error value magnitudes according to a number of error thresholds;

[0042] The cluster analysis results are divided into cluster item scales. For cluster groups whose cluster item scales are larger than the set scale threshold, the set evaluation model is used to evaluate the impact of the comprehensive error on the safety hazard risk. If the evaluation result does not meet the expected result, the first warning condition is generated; wherein the cluster item scale is the scale of the error value distribution, that is, the number of distributions whose error values ​​are between two set error thresholds;

[0043] For cluster groups whose cluster item size is smaller than the set size threshold, the set error value change deduction and prediction model is used, combined with the error value historical data, to perform deduction and prediction of the error value change in several future monitoring periods to obtain the first deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is greater than the set slope threshold, a second warning condition is generated;

[0044] At the same time, for the cluster group that meets the first warning body condition, the set error value change deduction and prediction model is used, combined with the error value historical data, to perform deduction and prediction of the error value change in several future monitoring periods to obtain the second deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is less than the set slope threshold, the third warning condition is generated;

[0045] The cluster analysis result corresponding to the cluster group that meets the first warning condition but does not meet the third warning condition and meets the second warning condition is used as the second matching analysis result.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects: by using the geographic location information data of the target monitoring points of the open-pit mines and tailings ponds, the real-scene data of the target monitoring points are obtained by using satellite real-scene three-dimensional technology, and the real-scene data are analyzed, so as to improve the level of safety hazard detection and early warning of the production operations of the open-pit mines and tailings ponds.

[0047] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0048] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 It is a schematic diagram of the steps of the satellite real-time three-dimensional monitoring and safety hazard early warning system applied to open-pit mines and tailings ponds;

[0051] Figure 2 Obtaining module structure diagram for satellite real-view 3D products;

[0052] Figure 3 This is a structural diagram of the data acquisition preprocessing unit. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0054] The present invention provides a satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds, such as Figure 1As shown, including:

[0055] Monitoring point data acquisition module, used to obtain geographical location information data of target monitoring points of open-pit mines and tailings ponds;

[0056] The satellite real-scene 3D product acquisition module is used to collect satellite remote sensing images of target monitoring points and generate satellite real-scene 3D products based on satellite real-scene 3D technology;

[0057] The safety hazard monitoring and early warning module is used to analyze, investigate and warn of safety hazards in production operations of open-pit mines and tailings ponds based on satellite real-scene 3D products and the set standard database.

[0058] The working principle of the above technical scheme is: in order to realize the satellite real-scene three-dimensional monitoring and safety hazard early warning system applied to open-pit mines and tailings ponds, the present invention proposes a monitoring point data acquisition module for obtaining the geographical location information data of the target monitoring points of the open-pit mines and tailings ponds; proposes a satellite real-scene three-dimensional product acquisition module for collecting satellite remote sensing images and generating satellite real-scene three-dimensional products for the target monitoring points based on satellite real-scene three-dimensional technology; proposes a safety hazard monitoring and early warning module for analyzing, checking and warning safety hazards in the production operations of open-pit mines and tailings ponds based on satellite real-scene three-dimensional products and according to a set standard database.

[0059] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, through the geographic location information data of the target monitoring points of the open-pit mines and tailings ponds, using satellite real-scene three-dimensional technology to obtain the real-scene data of the target monitoring points, and analyzing the real-scene data, the safety hazard detection and early warning level of the production operations of the open-pit mines and tailings ponds can be improved.

[0060] In one embodiment, obtaining geographic location information data of target monitoring points of open-pit mines and tailings ponds includes:

[0061] Obtain basic geographic location information of open-pit mines and tailings ponds;

[0062] Based on basic geographic location information, satellite remote sensing technology is used to obtain geographic location information data of target monitoring points in open-pit mines and tailings ponds; target monitoring points include but are not limited to slopes, steps and work platforms.

[0063] The working principle of the above technical solution is: in order to obtain the geographical location information data of the target monitoring points of the open-pit mine and the tailings pond, the present invention first obtains the basic geographical location information of the open-pit mine and the tailings pond; then based on the basic geographical location information, the satellite remote sensing technology is used to obtain the geographical location information data of the target monitoring points of the open-pit mine and the tailings pond; the target monitoring points include but are not limited to slopes, steps and work platforms.

[0064] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the geographical location information data of the target monitoring points of the open-pit mine and the tailings pond are obtained to provide a data basis for subsequent analysis.

[0065] In one embodiment, Figure 2 As shown, the satellite real scene 3D product acquisition module includes a data acquisition preprocessing unit, a satellite real scene 3D model construction unit and a satellite real scene 3D product generation unit;

[0066] The data acquisition and preprocessing unit is used to acquire satellite images of the target monitoring points according to the geographical location information data of the target monitoring points, and preprocess the satellite images to obtain training data sets and test data sets;

[0067] A satellite real scene three-dimensional model construction unit, used to construct a satellite real scene three-dimensional model based on a training data set;

[0068] The satellite real scene 3D product generation unit is used to generate satellite real scene 3D products based on the satellite real scene 3D model in combination with the test data set.

[0069] The working principle of the above technical solution is: in order to realize the function of the satellite real-scene three-dimensional product acquisition module, the present invention proposes a data preprocessing unit, a satellite real-scene three-dimensional model construction unit and a satellite real-scene three-dimensional product generation unit; the data acquisition preprocessing unit is used to collect and obtain satellite images of the target monitoring point according to the geographical location information data of the target monitoring point, and preprocess the satellite image to obtain a training data set and a test data set; the satellite real-scene three-dimensional model construction unit is used to construct a satellite real-scene three-dimensional model based on the training data set; the satellite real-scene three-dimensional product generation unit is used to generate a satellite real-scene three-dimensional product according to the satellite real-scene three-dimensional model in combination with the test data set.

[0070] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by proposing a data preprocessing unit, a satellite real scene three-dimensional model construction unit and a satellite real scene three-dimensional product generation unit, the acquisition of satellite real scene three-dimensional products can be achieved.

[0071] In one embodiment, Figure 3 As shown, the data acquisition preprocessing unit includes a data acquisition subunit and a data preprocessing subunit;

[0072] The data acquisition subunit is used to acquire satellite images of the target monitoring points based on the geographical location information data of the target monitoring points by using remote sensing satellite technology;

[0073] The data preprocessing subunit is used to preprocess satellite images to generate training data sets and test data sets; the preprocessing includes but is not limited to radiometric calibration and geometric correction of satellite images.

[0074] The working principle of the above technical solution is: in order to realize the data acquisition preprocessing unit, the present invention proposes a data acquisition subunit and a data preprocessing subunit; the data acquisition subunit is used to collect and obtain satellite images of the target monitoring points based on the geographical location information data of the target monitoring points using remote sensing satellite technology; the data preprocessing subunit is used to preprocess the satellite images to generate training data sets and test data sets; the preprocessing includes but is not limited to radiation calibration and geometric correction of the satellite images.

[0075] The beneficial effect of the above technical solution is: by adopting the solution provided by this embodiment, accurate analysis data is provided for subsequent use through data collection and preprocessing.

[0076] In one embodiment, constructing a satellite real scene three-dimensional model includes:

[0077] Using image matching technology, the training data set is spliced ​​to form a large-size continuous image;

[0078] Through stereo image pair technology, terrain information is extracted from large-scale continuous images to generate digital elevation models;

[0079] Using digital elevation models and large-size continuous images, real-scene 3D modeling is performed based on 3D modeling software to obtain a satellite real-scene 3D model.

[0080] The working principle of the above technical solution is as follows: in order to construct a satellite real-scene three-dimensional model, the present invention first uses image matching technology to splice the training data set to form a large-size continuous image; then uses stereo image pair technology to extract terrain information from the large-size continuous image to generate a digital elevation model; then uses the digital elevation model and the large-size continuous image to perform real-scene three-dimensional modeling based on three-dimensional modeling software to obtain a satellite real-scene three-dimensional model.

[0081] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, a three-dimensional model of the satellite real scene is constructed to provide a basis for subsequent analysis.

[0082] In one embodiment, the safety hazard monitoring and early warning module includes a monitoring and analysis module and an early warning module;

[0083] The monitoring and analysis module is used to compare and analyze the real-life images in the satellite real-life 3D products based on the constructed standard database to obtain monitoring and analysis results;

[0084] The early warning module is used to issue early warning reminders of potential safety risks based on the monitoring and analysis results.

[0085] The working principle of the above technical solution is: in order to realize safety hazard monitoring and early warning, the present invention proposes a monitoring and analysis module and an early warning module. The monitoring and analysis module is used to compare and analyze the real-life images in the satellite real-life three-dimensional product based on the constructed standard database to obtain the monitoring and analysis results; the early warning module is used to issue early warning reminders of safety hazard risks based on the monitoring and analysis results.

[0086] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, safety hazard monitoring and early warning can be achieved through the monitoring and analysis module and the early warning module.

[0087] In one embodiment, the monitoring and analysis module includes a standard database construction unit and a matching implementation unit;

[0088] The standard database construction unit is used to use the mine law enforcement inspection RTK mapping equipment combined with drones to map and collect images of target monitoring points, and to build a standard database based on the mapping results and collected images;

[0089] The matching implementation unit is used to compare and analyze the real-scene images in the satellite real-scene three-dimensional product according to the standard database, and obtain the monitoring analysis results according to the comparison and analysis results.

[0090] The working principle of the above technical solution is as follows: in order to realize monitoring and analysis, the present invention proposes a standard database construction unit, which is used to use the mine law enforcement inspection RTK surveying and mapping equipment combined with drones to survey and map the target monitoring points and collect images, and build a standard database based on the surveying and mapping results and the collected images; a matching implementation unit is proposed, which is used to compare and analyze the real-life images in the satellite real-life three-dimensional products according to the standard database, and obtain monitoring and analysis results based on the comparison and analysis results.

[0091] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, monitoring and analysis can be achieved through standard database construction and matching implementation.

[0092] In one embodiment, the mine law enforcement inspection RTK mapping equipment is combined with drones to map and collect images of target monitoring points. Based on the mapping results and the collected images, a standard database is constructed, including:

[0093] Use RTK surveying equipment for mine law enforcement inspection to survey the standard coordinates and standard elevations of target monitoring points to obtain surveying data;

[0094] Use drones with cameras to collect regional images of target monitoring points and obtain regional images of target monitoring points;

[0095] According to the set target recognition model, target recognition is performed on the target monitoring point area image to obtain several key targets corresponding to the target monitoring point; the target recognition model includes a significant target recognition algorithm model based on deep learning and a YOLO deep learning neural network detection model;

[0096] Based on the set three-dimensional feature extraction model, feature extraction is performed on key targets to obtain feature data;

[0097] The feature data is used to supplement and improve the surveying and mapping data to obtain the first surveying and mapping data, and a standard database is constructed based on the first surveying and mapping data and the regional image of the target monitoring point.

[0098] The working principle of the above technical solution is as follows: in order to realize the construction of a standard database, the present invention first uses the RTK surveying and mapping equipment for mine law enforcement inspection to survey the standard coordinates and standard elevations of the target monitoring points to obtain surveying and mapping data; then uses the drone with a camera to collect regional images of the target monitoring points to obtain regional images of the target monitoring points; then, according to the set target recognition model, the regional images of the target monitoring points are subjected to target recognition to obtain a number of key targets corresponding to the target monitoring points; the target recognition model includes a significant target recognition algorithm model based on deep learning and a YOLO deep learning neural network detection model; then, based on the set three-dimensional feature extraction model, features are extracted for key targets to obtain feature data; finally, the feature data is used to supplement and improve the surveying and mapping data to obtain the first surveying and mapping data, and a standard database is constructed based on the first surveying and mapping data and the regional images of the target monitoring points.

[0099] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, a standard database is obtained by construction, which provides a basis for subsequent matching analysis.

[0100] In one embodiment, a comparison analysis is performed on the real scene images in the satellite real scene 3D product according to the standard database, and a monitoring analysis result is obtained according to the comparison analysis result, including:

[0101] Acquire feature data in the real scene image, and perform a first matching analysis on the feature data and standard feature data in a standard database; the matching analysis includes a precision error comparison analysis of the absolute position and a precision error comparison analysis of the relative position. If the matching analysis does not meet the preset matching analysis result, obtain a first matching analysis result;

[0102] According to the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain a second matching analysis result;

[0103] According to the second matching analysis result, a monitoring analysis result is obtained.

[0104] The working principle of the above technical solution is: in order to achieve the acquisition of monitoring and analysis results, the present invention first obtains the feature data in the real-scene image, and performs a first matching analysis on the feature data and the standard feature data in the standard database; the matching analysis includes a comparative analysis of the accuracy error of the absolute position and a comparative analysis of the accuracy error of the relative position. If the matching analysis does not meet the preset matching analysis result, a first matching analysis result is obtained; then, based on the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain a second matching analysis result; finally, based on the second matching analysis result, a monitoring analysis result is obtained.

[0105] The beneficial effect of the above technical solution is: by adopting the solution provided by this embodiment, the accuracy of the monitoring and analysis results can be guaranteed by performing a secondary matching analysis.

[0106] In one embodiment, according to the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain the second matching analysis result, including:

[0107] According to the magnitude of the error values ​​of the absolute position accuracy error and the relative position accuracy error, cluster analysis of the error values ​​is performed to obtain cluster analysis results; the cluster analysis is: clustering the distribution of the error value magnitudes according to a number of error thresholds;

[0108] The cluster analysis results are divided into cluster item scales. For cluster groups whose cluster item scales are larger than the set scale threshold, the set evaluation model is used to evaluate the impact of the comprehensive error on the safety hazard risk. If the evaluation result does not meet the expected result, the first warning condition is generated; wherein the cluster item scale is the scale of the error value distribution, that is, the number of distributions whose error values ​​are between two set error thresholds;

[0109] For cluster groups whose cluster item size is smaller than the set size threshold, the set error value change deduction and prediction model is used, combined with the error value historical data, to perform deduction and prediction of the error value change in several future monitoring periods to obtain the first deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is greater than the set slope threshold, a second warning condition is generated;

[0110] At the same time, for the cluster group that meets the first warning body condition, the set error value change deduction and prediction model is used, combined with the error value historical data, to perform deduction and prediction of the error value change in several future monitoring periods to obtain the second deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is less than the set slope threshold, the third warning condition is generated;

[0111] The cluster analysis result corresponding to the cluster group that meets the first warning condition but does not meet the third warning condition and meets the second warning condition is used as the second matching analysis result.

[0112] The working principle of the above technical scheme is: in order to implement the second matching analysis on the precision error of the absolute position and the precision error of the relative position according to the first matching analysis result to obtain the second matching analysis result, the present invention first performs a clustering analysis of the error value according to the error values ​​of the precision error of the absolute position and the precision error of the relative position to obtain the clustering analysis result; the clustering analysis is: clustering the distribution of the error value size according to a number of error thresholds; then dividing the clustering analysis results into cluster item scales, and for the cluster group whose cluster item scale is greater than the set scale threshold, using the set evaluation model to evaluate the degree of influence of the comprehensive error on the safety hazard risk, if the evaluation result does not meet the expected result, a first warning condition is generated; wherein the cluster item scale is the scale of the error value size distribution, that is: the number of distributions of the error value between two set error thresholds; then the cluster item scale is evaluated. For cluster groups whose scale is smaller than the set scale threshold, the set error value change deduction and prediction model is used, combined with the historical data of error values, to perform deduction and prediction of the error value changes in several future monitoring periods to obtain the first deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is greater than the set slope threshold, a second early warning condition is generated; at the same time, for cluster groups that meet the first early warning body condition, the set error value change deduction and prediction model is used, combined with the historical data of error values, to perform deduction and prediction of the error value changes in several future monitoring periods to obtain the second deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is less than the set slope threshold, a third early warning condition is generated; finally, the cluster analysis result corresponding to the cluster group that meets the first early warning condition but does not meet the third early warning condition and meets the second early warning condition is used as the second matching analysis result.

[0113] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, after clustering analysis, the three warning conditions are analyzed to obtain an accurate second matching analysis result, providing a reliable basis for the accurate issuance of warnings.

[0114] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A satellite real-time 3D monitoring and safety hazard early warning system for open-pit mines and tailings ponds, characterized in that: include: Monitoring point data acquisition module, used to obtain geographical location information data of target monitoring points of open-pit mines and tailings ponds; The satellite real-scene 3D product acquisition module is used to collect satellite remote sensing images of target monitoring points and generate satellite real-scene 3D products based on satellite real-scene 3D technology; Safety hazard monitoring and early warning module is used to analyze, investigate and warn of safety hazards in production operations of open-pit mines and tailings ponds based on satellite real-life 3D products and a set standard database; The safety hazard monitoring and early warning module includes a monitoring and analysis module and an early warning module; The monitoring and analysis module includes a standard database construction unit and a matching implementation unit; The matching implementation unit is used to compare and analyze the real scene images in the satellite real scene three-dimensional product according to the standard database, and obtain the monitoring analysis results according to the comparison and analysis results; According to the standard database, the real scene images in the satellite real scene 3D products are compared and analyzed. Based on the comparison and analysis results, the monitoring and analysis results are obtained, including: Acquire feature data in the real scene image, and perform a first matching analysis on the feature data and standard feature data in a standard database; the matching analysis includes a precision error comparison analysis of the absolute position and a precision error comparison analysis of the relative position. If the matching analysis does not meet the preset matching analysis result, obtain a first matching analysis result; According to the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain a second matching analysis result; According to the second matching analysis result, a monitoring analysis result is obtained.

2. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 1 is characterized in that: Obtain geographic location information data of target monitoring points in open-pit mines and tailings ponds, including: Obtain basic geographic location information of open-pit mines and tailings ponds; Based on basic geographic location information, satellite remote sensing technology is used to obtain geographic location information data of target monitoring points in open-pit mines and tailings ponds; target monitoring points include but are not limited to slopes, steps and work platforms.

3. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 1 is characterized in that: The satellite real scene 3D product acquisition module includes a data acquisition preprocessing unit, a satellite real scene 3D model building unit and a satellite real scene 3D product generation unit; A data collection and preprocessing unit is used to collect and obtain satellite images of the target monitoring points according to the geographical location information data of the target monitoring points, and preprocess the satellite images to obtain training data sets and test data sets; A satellite real scene three-dimensional model construction unit, used to construct a satellite real scene three-dimensional model based on a training data set; The satellite real scene 3D product generation unit is used to generate satellite real scene 3D products based on the satellite real scene 3D model in combination with the test data set.

4. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 3 is characterized in that: The data acquisition preprocessing unit includes a data acquisition subunit and a data preprocessing subunit; The data acquisition subunit is used to acquire satellite images of the target monitoring points based on the geographical location information data of the target monitoring points by using remote sensing satellite technology; The data preprocessing subunit is used to preprocess satellite images to generate training data sets and test data sets; the preprocessing includes but is not limited to radiometric calibration and geometric correction of satellite images.

5. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 4 is characterized in that: Construct a 3D satellite scene model, including: Using image matching technology, the training data set is spliced ​​to form a large-size continuous image; Through stereo image pair technology, terrain information is extracted from large-scale continuous images to generate digital elevation models; Using digital elevation models and large-size continuous images, real-scene 3D modeling is performed based on 3D modeling software to obtain a satellite real-scene 3D model.

6. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 1 is characterized in that: The monitoring and analysis module is used to compare and analyze the real-life images in the satellite real-life 3D products based on the constructed standard database to obtain monitoring and analysis results; The early warning module is used to issue early warning reminders of potential safety risks based on the monitoring and analysis results.

7. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 1 is characterized in that: The standard database construction unit is used to use the mine law enforcement inspection RTK surveying and mapping equipment in combination with drones to survey and collect images of target monitoring points, and to build a standard database based on the surveying and mapping results and the collected images.

8. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 7 is characterized in that: The mine law enforcement inspection RTK mapping equipment combined with drones is used to map and collect images of target monitoring points. Based on the mapping results and collected images, a standard database is constructed, including: Use RTK surveying equipment for mine law enforcement inspection to survey the standard coordinates and standard elevations of target monitoring points to obtain surveying data; Use drones with cameras to collect regional images of target monitoring points and obtain regional images of target monitoring points; According to the set target recognition model, target recognition is performed on the target monitoring point area image to obtain several key targets corresponding to the target monitoring point; the target recognition model includes a significant target recognition algorithm model based on deep learning and a YOLO deep learning neural network detection model; Based on the set three-dimensional feature extraction model, feature extraction is performed on key targets to obtain feature data; The feature data is used to supplement and improve the surveying and mapping data to obtain the first surveying and mapping data, and a standard database is constructed based on the first surveying and mapping data and the regional image of the target monitoring point.

9. The satellite real-time three-dimensional monitoring and safety hazard early warning system for open-pit mines and tailings ponds according to claim 1 is characterized in that: According to the first matching analysis result, a second matching analysis is performed on the accuracy error of the absolute position and the accuracy error of the relative position to obtain a second matching analysis result, including: According to the magnitude of the error values ​​of the absolute position accuracy error and the relative position accuracy error, cluster analysis of the error values ​​is performed to obtain cluster analysis results; the cluster analysis is: clustering the distribution of the error value magnitudes according to a number of error thresholds; The cluster analysis results are divided into cluster item scales. For cluster groups whose cluster item scales are larger than the set scale threshold, the set evaluation model is used to evaluate the impact of the comprehensive error on the safety hazard risk. If the evaluation result does not meet the expected result, the first warning condition is generated; wherein the cluster item scale is the scale of the error value distribution, that is, the number of distributions whose error values ​​are between two set error thresholds; For cluster groups whose cluster item size is smaller than the set size threshold, the set error value change deduction and prediction model is used, combined with the error value historical data, to perform deduction and prediction of the error value change in several future monitoring periods to obtain the first deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is greater than the set slope threshold, a second warning condition is generated; At the same time, for the cluster group that meets the first warning body condition, the set error value change deduction and prediction model is used, combined with the error value historical data, to perform deduction and prediction of the error value change in several future monitoring periods to obtain the second deduction and prediction data; if the slope value of the error value change curve in the deduction and prediction data is less than the set slope threshold, the third warning condition is generated; The cluster analysis result corresponding to the cluster group that meets the first warning condition but does not meet the third warning condition and meets the second warning condition is used as the second matching analysis result.

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