Side slope monitoring method for open pit coal mine and related device

Abstract

The invention provides a slope monitoring method for an open pit coal mine and a related device, and relates to the technical field of software, and the method comprises the steps: carrying out the slope monitoring of a target open pit coal mine based on a satellite-borne InSAR, so as to obtain a first slope monitoring result; performing slope monitoring on the target open pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result; and analyzing the first monitoring result and the second monitoring result to obtain a comprehensive slope monitoring result of the target open pit coal mine. According to the invention, coordination processing is carried out on satellite-borne InSAR-based side slope monitoring and multi-temporal ground laser scanning-based side slope monitoring, and by means of advancement, robustness and precision of a monitoring instrument, space-time complementarity and process collaboration of multiple means are exerted, so that the accuracy of open-pit coal mine side slope monitoring is improved, and the cost of open-pit coal mine side slope monitoring is reduced. And comprehensive and accurate information guarantee is provided for mine slope disaster prevention and control.

Description

Technical Field

[0001] The present application relates to the field of software technology, and in particular to a slope monitoring method and related devices for an open-pit coal mine. Background Art

[0002] The stability evaluation of high and steep slopes in large open-pit mines is of great significance to the safe mining, sustainable production and prevention of geological disasters in mines.

[0003] Although the traditional geodetic geometric monitoring method has high accuracy, it is labor-intensive, costly, and has disadvantages such as difficulty in deployment and sparse measurement points. Under large-scale and complex terrain conditions, foundation measurement is greatly restricted, and it is difficult to obtain large-scale displacement and large deformation information of large open-pit mines, and it is impossible to provide comprehensive and accurate information guarantee for mine slope disaster prevention and control. Summary of the invention

[0004] In view of the above problems, the present application provides a slope monitoring method and related devices for an open-pit coal mine to achieve the purpose of effective slope monitoring of an open-pit coal mine. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a slope monitoring method for an open-pit coal mine, the slope monitoring method for an open-pit coal mine comprising:

[0006] Based on the satellite-borne InSAR, the slope of the target open-pit coal mine is monitored to obtain the first slope monitoring result;

[0007] Performing slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result;

[0008] The first monitoring result and the second monitoring result are analyzed to obtain a comprehensive slope monitoring result of the target open-pit coal mine.

[0009] In a possible implementation, the performing slope monitoring on the target open-pit coal mine based on the satellite-borne InSAR to obtain a first slope monitoring result includes:

[0010] Performing a full-area scan of the target open-pit coal mine based on a satellite-borne InSAR to obtain a first point cloud distribution map, wherein the first point cloud distribution map records a three-dimensional deformation parameter of a first spatial point in the target open-pit coal mine;

[0011] A first landslide risk area in the target open-pit coal mine is determined according to the three-dimensional deformation parameter of the first spatial point.

[0012] In a possible implementation, the performing slope monitoring on the target open-pit coal mine based on the satellite-borne InSAR to obtain a first slope monitoring result further includes:

[0013] Generate warning information for the first landslide risk area, and output the warning information.

[0014] In a possible implementation, the performing slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result includes:

[0015] generating a second point cloud distribution map of the target open-pit coal mine based on multi-temporal ground laser scanning, wherein the second point cloud distribution map records three-dimensional deformation parameters of a second spatial point in the target open-pit coal mine;

[0016] filtering the second spatial point;

[0017] A second landslide risk area in the target open-pit coal mine is determined according to the filtered three-dimensional deformation parameters of the second spatial point.

[0018] In a possible implementation, the slope monitoring method for an open-pit coal mine further includes:

[0019] Perform slope monitoring on the target open-pit coal mine based on low-altitude UAV photogrammetry to obtain a third slope monitoring result;

[0020] Taking the comprehensive monitoring results as the goal, the third slope monitoring results are analyzed to optimize the strategy of low-altitude UAV photogrammetry.

[0021] In a possible implementation, the slope monitoring of the target open-pit coal mine based on low-altitude UAV photogrammetry to obtain a third slope monitoring result includes:

[0022] Calibrate the lens of the binocular vision measurement system to make the image clear;

[0023] Generate a third point cloud distribution map of the target open-pit coal mine by using the binocular vision measurement system, wherein the sliding parameters of the two-dimensional position points in the target open-pit coal mine are recorded in the third point cloud distribution map;

[0024] Performing triangulation processing on the two-dimensional position point based on the calibration result of the lens to convert the two-dimensional position point into a corresponding third space point;

[0025] Determining a three-dimensional deformation parameter of the third spatial point according to the sliding parameter of the two-dimensional position point and the corresponding relationship between the two-dimensional position point and the third spatial point;

[0026] A third landslide risk area in the target open-pit coal mine is determined according to the three-dimensional deformation parameter of the third spatial point.

[0027] A second aspect of the present application provides a slope monitoring device for an open-pit coal mine, the slope monitoring device for an open-pit coal mine comprising:

[0028] A slope monitoring module is used to perform slope monitoring on a target open-pit coal mine based on satellite-borne InSAR to obtain a first slope monitoring result; and to perform slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result;

[0029] The comprehensive analysis module is used to analyze the first monitoring result and the second monitoring result to obtain the comprehensive slope monitoring result of the target open-pit coal mine.

[0030] A third aspect of the present application provides a computer program product, comprising computer-readable instructions, which, when executed on an electronic device, enables the electronic device to implement the slope monitoring method for an open-pit coal mine according to the first aspect or any implementation of the first aspect.

[0031] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0032] The memory is used to store computer programs;

[0033] The processor is used to execute the computer program so that the electronic device can implement the slope monitoring method for an open-pit coal mine according to the first aspect or any implementation manner of the first aspect.

[0034] The fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the slope monitoring method for an open-pit coal mine according to the above-mentioned first aspect or any implementation method of the first aspect.

[0035] By means of the above technical scheme, the present application provides a slope monitoring method and related devices for an open-pit coal mine, which performs slope monitoring on a target open-pit coal mine based on satellite-borne InSAR to obtain a first slope monitoring result; performs slope monitoring on a target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result; and analyzes the first monitoring result and the second monitoring result to obtain a comprehensive slope monitoring result of the target open-pit coal mine. The present application coordinates slope monitoring based on satellite-borne InSAR and slope monitoring based on multi-temporal ground laser scanning, and with the help of the advancement, robustness and accuracy of monitoring instruments, gives play to the spatiotemporal complementarity and process synergy of multiple means, thereby improving the accuracy of slope monitoring in open-pit coal mines and providing comprehensive and accurate information guarantee for the prevention and control of mine slope disasters. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0037] Figure 1 A schematic diagram of a process flow of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application;

[0038] Figure 2 A partial flow diagram of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of another part of the process of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application;

[0040] Figure 4 Another schematic diagram of a process flow of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of another part of the process of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of a slope monitoring device for an open-pit coal mine provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0045] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0046] The terms "first", "second" etc. in the specification of the application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable in appropriate circumstances, and this is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0047] With the continuous development of open-pit mining technology and equipment in my country, its characteristics of large scale, high efficiency, low cost and high resource recovery rate are becoming more and more apparent. The dual factors of land shortage and production targets force steep slope mining to be widely used, resulting in prominent stability problems of high and steep slopes in open-pit mines and frequent geological disasters. Therefore, the stability evaluation of high and steep slopes in large open-pit mines is of great significance for safe mining, sustainable production and prevention of geological disasters in mines.

[0048] Generally speaking, the stability of high and steep slopes is mainly affected by geological conditions, meteorological environment and human activities. There are many methods for monitoring mine slopes at home and abroad, such as surface displacement and deformation monitoring, underground drilling inclination and stress monitoring, acoustic emission and microseismic monitoring, groundwater monitoring and meteorological parameter monitoring. Among them, geometric monitoring of displacement and deformation is the most commonly used method. Although traditional geodetic geometric monitoring methods have high accuracy, they are labor-intensive and costly, and have disadvantages such as difficulty in deployment and sparse measurement points. Under large-scale and complex terrain conditions, foundation measurement is greatly restricted, and it is difficult to obtain large-scale displacement and large deformation information of large open-pit mines, and it is impossible to provide comprehensive and accurate information guarantee for mine slope disaster prevention and control.

[0049] With the rapid development of modern surveying and mapping science and technology, various new monitoring methods are constantly emerging, and slope monitoring is gradually developing from traditional point monitoring to surface monitoring and even volume monitoring. However, different monitoring methods have different applicability and limitations due to their inherent defects. For example, although satellite navigation and positioning system (GNSS) monitoring has high accuracy and fast response, and can realize online and continuous monitoring, the monitoring points are sparse, and the satellite signal is poor in deep pit environments and is prone to multipath effects, making it impossible to monitor; although radar differential interferometry (D-InSAR) has high measurement accuracy and is surface monitoring, it can obtain large-scale displacement field information, but phase unwrapping is difficult or phase de-correlation occurs during large deformations; long-distance three-dimensional laser scanning (TLS) has fast speed and high accuracy, but there are scanning blind spots, and its supporting software module is relatively complex to process large-scale point cloud data.

[0050] Due to the high slopes, steep slopes, large drop heights, numerous influencing factors, and the complex, hidden, multi-scale, multi-stage, and large deformation characteristics of large open-pit mines, a multi-means combined intelligent monitoring method is required.

[0051] In order to solve the above problems, the embodiment of the present application provides a slope monitoring method for an open-pit coal mine. The slope monitoring method for an open-pit coal mine in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0052] See also Figure 1 , Figure 1 The following is a flow chart of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application. Figure 1 As shown, a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application may include steps S10 to S30, and these steps are described in detail below.

[0053] S10, performing slope monitoring on the target open-pit coal mine based on the satellite-borne InSAR to obtain the first slope monitoring result.

[0054] In an embodiment of the present application, the target open-pit coal mine is an open-pit coal mine for which slope monitoring is to be performed. For the target open-pit coal mine, slope monitoring can be performed based on satellite-borne InSAR to obtain a first slope monitoring result, which includes the deformation of the target open-pit coal mine caused by open-pit mining within the entire mine.

[0055] See also Figure 2 , Figure 2 A partial flow chart of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application. Figure 2 As shown, an embodiment of the present application provides a slope monitoring method for an open-pit coal mine, wherein step S10 "performs slope monitoring on a target open-pit coal mine based on satellite-borne InSAR to obtain a first slope monitoring result" may include steps S101 to S102, and these steps are described in detail below.

[0056] S101, performing a full-area scan of the target open-pit coal mine based on the satellite-borne InSAR to obtain a first point cloud distribution map, in which the three-dimensional deformation parameters of the first spatial point in the target open-pit coal mine are recorded.

[0057] In the embodiment of the present application, the target open-pit coal mine can be scanned in multiple phases based on the satellite-borne InSAR to obtain the point cloud distribution map (i.e., the first point cloud distribution map) of the entire mine range at different scanning cycles, and the first point cloud distribution map of multiple phases is automatically registered. The first point cloud distribution map records the three-dimensional deformation parameters of different spatial points (i.e., the first spatial points) within the entire mine range, and the three-dimensional deformation parameters include the three-dimensional deformation rate and the accumulated deformation amount.

[0058] S102: Determine a first landslide risk area in the target open-pit coal mine according to the three-dimensional deformation parameter of the first spatial point.

[0059] In an embodiment of the present application, based on the three-dimensional deformation parameters of the first spatial point in the first point cloud distribution map, the first spatial point that exceeds the corresponding threshold can be determined, and the determined first spatial point is used as the first risk spatial point to identify areas within the entire mine where three-dimensional deformation is too fast, including settlement, slippage, etc. This is used as the first landslide risk area, which clarifies the high-risk areas where landslides may occur due to mining.

[0060] On this basis, since the satellite-borne InSAR has a high credibility, an early warning can be issued based on the first landslide risk area. In this regard, the embodiment of the present application provides a slope monitoring method for an open-pit coal mine, wherein step S10 "performs slope monitoring of the target open-pit coal mine based on the satellite-borne InSAR to obtain a first slope monitoring result" also includes the following steps:

[0061] Generate early warning information for the first landslide risk area and output the early warning information.

[0062] In the embodiment of the present application, corresponding warning information can be generated based on the first landslide risk area, and the warning information can be output at the relevant terminal. For example, the southwest dump of the target open-pit coal mine is determined to be the first landslide risk area through satellite-borne InSAR monitoring. Its cumulative deformation in the past two years is about 20 cm, and the area has been in the deformation stage without obvious slowing trend. Since the area below is an industrial equipment placement area, the deformation supervision of the area should be strengthened, and the corresponding warning information can be output for this.

[0063] S20, performing slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result.

[0064] In an embodiment of the present application, for the target open-pit coal mine, slope monitoring can be performed based on multi-phase ground laser scanning to obtain a second slope monitoring result, which includes the deformation of the target open-pit coal mine caused by open-pit mining throughout the mine.

[0065] See also Figure 3 , Figure 3 Another partial flow chart of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application. Figure 3 As shown, an embodiment of the present application provides a slope monitoring method for an open-pit coal mine, wherein step S20 "performs slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result" may include steps S201 to S203, and these steps are described in detail below.

[0066] S201, generating a second point cloud distribution map of the target open-pit coal mine based on multi-temporal ground laser scanning, wherein the second point cloud distribution map records three-dimensional deformation parameters of a second spatial point in the target open-pit coal mine.

[0067] In the embodiment of the present application, the target open-pit coal mine can be scanned in multiple phases based on multi-phase ground laser scanning. Specifically, the Riegl VZ-4000 ground long-distance three-dimensional laser scanner can be used to scan the entire mine range by scanning in a fixed single-station coordinate point manner, so as to obtain a point cloud distribution map (i.e., a second point cloud distribution map) of the entire mine range under different scanning cycles, and automatically align the second point cloud distribution map of multiple phases. The second point cloud distribution map records the three-dimensional deformation parameters of different spatial points (i.e., second spatial points) within the entire mine range, and the three-dimensional deformation parameters include a three-dimensional deformation rate and a cumulative deformation amount.

[0068] S202: Filter the second spatial point.

[0069] In the embodiment of the present application, the second spatial point in the second point cloud distribution map can be filtered based on the point cloud filtering method of slope angle correction, so as to eliminate the influence of slope vegetation coverage on three-dimensional deformation monitoring.

[0070] S203: Determine a second landslide risk area in the target open-pit coal mine according to the filtered three-dimensional deformation parameter of the second spatial point.

[0071] In an embodiment of the present application, based on the three-dimensional deformation parameters of the second spatial point after filtering in the second point cloud distribution map, the second spatial point that exceeds the corresponding threshold can be determined, and the determined second spatial point is used as the second risk spatial point to identify the area in the entire mine where the three-dimensional deformation is too fast, including settlement, slippage, etc., and this is used as the second landslide risk area, which clarifies the high-risk area of ​​landslide hazards caused by mining in the mining area.

[0072] S30, analyzing the first monitoring result and the second monitoring result to obtain a comprehensive slope monitoring result of the target open-pit coal mine.

[0073] In an embodiment of the present application, a weighted calculation can be performed on the first monitoring result and the second monitoring result obtained during the same period to obtain comprehensive three-dimensional deformation parameters of different spatial points within the entire mine. The comprehensive three-dimensional deformation parameters can be used to determine areas within the entire mine where three-dimensional deformation is too fast, thereby identifying high-risk areas where mining may lead to landslide hazards, and using this as the comprehensive slope monitoring result of the target open-pit coal mine.

[0074] On this basis, the embodiment of the present application also proposes slope monitoring by low-altitude drone video measurement to achieve the convenience of monitoring. Figure 4 , Figure 4Another schematic diagram of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application. Figure 4 As shown, a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application also includes the following steps S40 to S50, which are described in detail below.

[0075] S40, slope monitoring of the target open-pit coal mine is carried out based on low-altitude UAV photogrammetry to obtain the third slope monitoring results.

[0076] In the embodiment of the present application, an M210 RTK drone is used, equipped with a ZENMUSE X5s high-resolution digital camera to collect multiple periods of drone image data of the target open-pit coal mine, and a third slope monitoring result is generated by digital photogrammetry technology. The third slope monitoring result includes the deformation of the target open-pit coal mine within the entire mine due to open-pit mining.

[0077] See also Figure 5 , Figure 5 Another partial flow chart of a slope monitoring method for an open-pit coal mine provided in an embodiment of the present application. Figure 5 As shown, an embodiment of the present application provides a slope monitoring method for an open-pit coal mine, wherein step S40 "performs slope monitoring on the target open-pit coal mine based on low-altitude UAV photogrammetry to obtain a third slope monitoring result" may include steps S401 to S405, and these steps are described in detail below.

[0078] S401, calibrating the lens of the binocular vision measurement system to make the image clear.

[0079] In the embodiment of the present application, a checkerboard is printed and pasted on a flat surface with good flatness to form a calibration plate, the position of the binocular vision measurement system is fixed, and the zoom lens is adjusted so that the image is clear at a certain shooting distance, and then the Zhang calibration method is used to calibrate the single lens.

[0080] S402, generating a third point cloud distribution map of the target open-pit coal mine by using a binocular vision measurement system, wherein the third point cloud distribution map records sliding parameters of two-dimensional position points in the target open-pit coal mine.

[0081] In the embodiment of the present application, the target open-pit coal mine is photographed in the whole area for multiple periods by a binocular vision measurement system, and the shooting results of the dual lenses are fused in the process to obtain the point cloud distribution map of the whole mine range in different scanning cycles (i.e., the third point cloud distribution map), and the third point cloud distribution map of multiple periods is automatically registered. The sliding parameters of different two-dimensional position points in the whole mine range are recorded in the third point cloud distribution map, and the sliding parameters include sliding direction and sliding amount. Among them, the two-dimensional position point refers to the position point in the two-dimensional coordinate system of the lens.

[0082] S403: triangulate the two-dimensional position points based on the calibration result of the lens to convert the two-dimensional position points into corresponding third space points.

[0083] In the embodiment of the present application, the calibration result of the above-mentioned lens includes the external parameters of the lens, and the two-dimensional position points in the third point cloud distribution map are triangulated according to the external parameters to convert the two-dimensional position points into spatial points (i.e., third spatial points) in the world coordinate system.

[0084] S404, determining a three-dimensional deformation parameter of the third space point according to the sliding parameter of the two-dimensional position point and the corresponding relationship between the two-dimensional position point and the third space point.

[0085] In an embodiment of the present application, sliding parameters of different third space points are obtained based on sliding parameters of different two-dimensional position points and the correspondence between different two-dimensional position points and third space points, and then corresponding three-dimensional deformation parameters are calculated based on the sliding parameters of the third space points.

[0086] S405: Determine a third landslide risk area in the target open-pit coal mine according to the three-dimensional deformation parameter of the third spatial point.

[0087] In the embodiment of the present application, based on the three-dimensional deformation parameters of the third spatial point, the third spatial point that exceeds the corresponding threshold can be determined, and the determined third spatial point is used as the third risk spatial point to identify the area in the entire mine where the three-dimensional deformation is too fast, including settlement, slippage, etc. This is used as the third landslide area, which clarifies the high-risk area of ​​landslide hazards caused by mining.

[0088] S50, with the goal of comprehensive monitoring results, analyzes the monitoring results of the third slope to optimize the strategy of low-altitude UAV photogrammetry.

[0089] In the embodiment of the present application, compared with the credibility of slope monitoring based on low-altitude UAV photogrammetry, the credibility of slope monitoring based on satellite-borne InSAR and multi-temporal ground laser scanning is higher. Therefore, with the comprehensive monitoring results as the goal, the third slope monitoring result is analyzed to optimize the strategy of low-altitude UAV photogrammetry, such as optimizing the position of the reference object. After optimization, the credibility of slope monitoring based on low-altitude UAV photogrammetry can be improved, and slope monitoring can be performed based on low-altitude UAV photogrammetry in the future.

[0090] Through the above description, the present application provides a slope monitoring method for an open-pit coal mine, which coordinates the slope monitoring based on satellite-borne InSAR and the slope monitoring based on multi-temporal ground laser scanning, and makes use of the advancement, robustness and precision of the monitoring instruments to give full play to the spatiotemporal complementarity and process synergy of multiple means, thereby improving the accuracy of open-pit coal mine slope monitoring and providing comprehensive and accurate information support for the prevention and control of mine slope disasters.

[0091] A slope monitoring method for an open-pit coal mine provided by an embodiment of the present application is introduced above. A device for executing the above-mentioned slope monitoring method for an open-pit coal mine will be introduced below.

[0092] See also Figure 6 , Figure 6 The present invention provides a schematic diagram of the structure of a slope monitoring device for an open-pit coal mine. Figure 6 As shown, an open-pit coal mine slope monitoring device provided in an embodiment of the present application includes:

[0093] The slope monitoring module 10 is used to perform slope monitoring on the target open-pit coal mine based on the satellite-borne InSAR to obtain a first slope monitoring result; and to perform slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result;

[0094] The comprehensive analysis module 20 is used to analyze the first monitoring result and the second monitoring result to obtain the comprehensive slope monitoring result of the target open-pit coal mine.

[0095] In a possible implementation, the slope monitoring module 10 for performing slope monitoring on a target open-pit coal mine based on a satellite-borne InSAR to obtain a first slope monitoring result is specifically configured to:

[0096] Based on the satellite-borne InSAR, the target open-pit coal mine is scanned in the entire area to obtain a first point cloud distribution map, in which the three-dimensional deformation parameters of the first spatial point in the target open-pit coal mine are recorded; based on the three-dimensional deformation parameters of the first spatial point, the first landslide risk area in the target open-pit coal mine is determined.

[0097] In a possible implementation, the slope monitoring module 10 for performing slope monitoring on a target open-pit coal mine based on a satellite-borne InSAR to obtain a first slope monitoring result is further used to:

[0098] Generate early warning information for the first landslide risk area and output the early warning information.

[0099] In a possible implementation, the slope monitoring module 10 for performing slope monitoring on a target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result is specifically used for:

[0100] A second point cloud distribution map of the target open-pit coal mine is generated based on multi-temporal ground laser scanning, wherein the three-dimensional deformation parameters of the second spatial point in the target open-pit coal mine are recorded in the second point cloud distribution map; the second spatial point is filtered; and the second landslide risk area in the target open-pit coal mine is determined according to the three-dimensional deformation parameters of the second spatial point after filtering.

[0101] In a possible implementation, the slope monitoring module 10 is further used for:

[0102] Slope monitoring of the target open-pit coal mine was carried out based on low-altitude UAV photogrammetry to obtain the third slope monitoring results;

[0103] The comprehensive analysis module 20 is further used for:

[0104] With the goal of synthesizing the monitoring results, the third slope monitoring results were analyzed to optimize the strategy of low-altitude UAV photogrammetry.

[0105] In a possible implementation, the slope monitoring module 10 for performing slope monitoring on a target open-pit coal mine based on low-altitude UAV photogrammetry to obtain a third slope monitoring result is specifically used for:

[0106] The lens of the binocular vision measurement system is calibrated to make the imaging clear; a third point cloud distribution map of the target open-pit coal mine is generated by the binocular vision measurement system, and the sliding parameters of the two-dimensional position points in the target open-pit coal mine are recorded in the third point cloud distribution map; the two-dimensional position points are triangulated based on the calibration results of the lens to convert the two-dimensional position points into corresponding third space points; the three-dimensional deformation parameters of the third space points are determined according to the sliding parameters of the two-dimensional position points and the corresponding relationship between the two-dimensional position points and the third space points; and the third landslide risk area in the target open-pit coal mine is determined according to the three-dimensional deformation parameters of the third space points.

[0107] It should be noted that the detailed functions of each module in the embodiment of the present application can be found in the corresponding public part of the above-mentioned open-pit coal mine slope monitoring method embodiment, which will not be repeated here.

[0108] The present application also provides an electronic device in an embodiment. Figure 7 , Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device in the embodiment of the present application may include but is not limited to fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 7 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0109] like Figure 7As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 to a random access memory (RAM) 703. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 703. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0110] Typically, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a memory card, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0111] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the slope monitoring methods for open-pit coal mines provided in the embodiments of the present application.

[0112] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When one or more computer programs are executed by an electronic device, the electronic device can implement any open-pit coal mine slope monitoring method provided in an embodiment of the present application.

[0113] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0114] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0115] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0116] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A slope monitoring method for an open-pit coal mine, characterized in that: The slope monitoring method of the open-pit coal mine comprises: Based on the satellite-borne InSAR, the slope of the target open-pit coal mine is monitored to obtain the first slope monitoring result; Performing slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result; The first monitoring result and the second monitoring result are analyzed to obtain a comprehensive slope monitoring result of the target open-pit coal mine.

2. The slope monitoring method for an open-pit coal mine according to claim 1, characterized in that: The method of performing slope monitoring on the target open-pit coal mine based on the satellite-borne InSAR to obtain a first slope monitoring result includes: Performing a full-area scan of the target open-pit coal mine based on a satellite-borne InSAR to obtain a first point cloud distribution map, wherein the first point cloud distribution map records a three-dimensional deformation parameter of a first spatial point in the target open-pit coal mine; A first landslide risk area in the target open-pit coal mine is determined according to the three-dimensional deformation parameter of the first spatial point.

3. The slope monitoring method for an open-pit coal mine according to claim 2, characterized in that: The performing slope monitoring on the target open-pit coal mine based on the satellite-borne InSAR to obtain a first slope monitoring result also includes: Generate warning information for the first landslide risk area, and output the warning information.

4. The slope monitoring method for an open-pit coal mine according to claim 1, characterized in that: The performing slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result includes: generating a second point cloud distribution map of the target open-pit coal mine based on multi-temporal ground laser scanning, wherein the second point cloud distribution map records three-dimensional deformation parameters of a second spatial point in the target open-pit coal mine; filtering the second spatial point; A second landslide risk area in the target open-pit coal mine is determined according to the filtered three-dimensional deformation parameters of the second spatial point.

5. The slope monitoring method for an open-pit coal mine according to claim 1, characterized in that: The slope monitoring method of the open-pit coal mine also includes: Perform slope monitoring on the target open-pit coal mine based on low-altitude UAV photogrammetry to obtain a third slope monitoring result; Taking the comprehensive monitoring results as the goal, the third slope monitoring results are analyzed to optimize the strategy of low-altitude UAV photogrammetry.

6. The slope monitoring method for an open-pit coal mine according to claim 5, characterized in that: The slope monitoring of the target open-pit coal mine based on low-altitude UAV photogrammetry to obtain the third slope monitoring result includes: Calibrate the lens of the binocular vision measurement system to make the image clear; Generate a third point cloud distribution map of the target open-pit coal mine by using the binocular vision measurement system, wherein the sliding parameters of the two-dimensional position points in the target open-pit coal mine are recorded in the third point cloud distribution map; Performing triangulation processing on the two-dimensional position point based on the calibration result of the lens to convert the two-dimensional position point into a corresponding third space point; Determining a three-dimensional deformation parameter of the third spatial point according to the sliding parameter of the two-dimensional position point and the corresponding relationship between the two-dimensional position point and the third spatial point; A third landslide risk area in the target open-pit coal mine is determined according to the three-dimensional deformation parameter of the third spatial point.

7. A slope monitoring device for an open-pit coal mine, characterized in that: The slope monitoring device of the open-pit coal mine comprises: A slope monitoring module is used to perform slope monitoring on a target open-pit coal mine based on satellite-borne InSAR to obtain a first slope monitoring result; and to perform slope monitoring on the target open-pit coal mine based on multi-temporal ground laser scanning to obtain a second slope monitoring result; The comprehensive analysis module is used to analyze the first monitoring result and the second monitoring result to obtain the comprehensive slope monitoring result of the target open-pit coal mine.

8. A computer program product, characterized in that It comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the slope monitoring method for an open-pit coal mine as claimed in any one of claims 1 to 6.

9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the slope monitoring method for an open-pit coal mine as described in any one of claims 1 to 6.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the slope monitoring method for an open-pit coal mine as described in any one of claims 1 to 6.

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