Surface mine informatization monitoring system

Abstract

The invention discloses a surface mine informatization monitoring system comprising a monitoring module used for monitoring and monitoring a mine through a monitoring device and obtaining basic information of the mine; the cloud data module is used for communicating with the monitoring module and storing basic information of the mine; the acquisition and modeling module is used for acquiring aerial photography data of a mine and establishing a three-dimensional real scene model; the slope form analysis module is used for identifying and measuring the three-dimensional real scene model and evaluating the safety of each area in the mine to obtain corresponding early warning data; and the visual operation module is used for displaying the three-dimensional real scene model according to the basic information, the aerial photography data, the slope data and the early warning data of the mine. According to the invention, a mine manager can intuitively understand the safety condition of each area of the mine through the three-dimensional live-action model and remotely monitor the mine in real time, so that the high efficiency and the safety of surface mine mining operation are ensured.

Description

Technical Field

[0001] The invention belongs to the field of open-pit mine monitoring, and in particular relates to an open-pit mine information monitoring system. Background Art

[0002] At present, the daily safety management of open-pit mines in my country mainly relies on safety management personnel to conduct regular on-site inspections of open-pit mine slope safety operations, large equipment, and exit products. However, due to the large scope of safety management in the mining area and the special environment, on-site safety management is subject to certain restrictions and inconveniences. At the same time, due to the lack of responsibility and professional ability of mine safety management personnel, some safety hazards cannot be discovered, resulting in accident risks.

[0003] With the development of communication technology and the continuous improvement of drone performance, the rapid 3D modeling technology of drone orthophoto oblique images fused with lidar is becoming more and more mature. Drone inspection technology has been widely used in open-pit mine inspections due to its high efficiency, safety and accuracy. Compared with traditional mine inspections and regular mine mapping work, the use of drones can reduce labor costs and monitoring costs. It provides high-resolution images and videos to improve monitoring accuracy. It can prevent people from entering dangerous areas and reduce safety risks during inspections.

[0004] The existing mine display and early warning systems are generally based on the Internet of Things and the Internet to collect mine geological environment data. The traditional method is to use tables and graphics to display data. The amount of information is large, the relationship between the data is not intuitive, and it requires a lot of manpower and material resources. In addition, the data display process is not flexible. It uses traditional manual operations, which are inefficient and prone to errors. It wastes a lot of human resources, and the data is not easy to query, which is not conducive to the overall layout and overall arrangement of mine geological environment management work. Summary of the invention

[0005] The purpose of the present invention is to provide an open-pit mine information monitoring system, which can evaluate the safety of each area in the mine by integrating image recognition, three-dimensional reconstruction, data analysis and safety monitoring technology, and provide visual operation support, thereby providing data-driven decision support for mine managers to ensure the efficiency and safety of open-pit mining operations.

[0006] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is as follows:

[0007] An open-pit mine information monitoring system, comprising:

[0008] A monitoring module is used to monitor the mine through monitoring equipment and obtain monitoring data of the mine;

[0009] Cloud data module, used to communicate with the monitoring module and store basic information and monitoring data of the mine;

[0010] The acquisition and modeling module is used to collect aerial data of the mine and build a three-dimensional real-scene model;

[0011] A slope morphology analysis module is used to identify and measure the three-dimensional real-scene model, evaluate the safety of each area in the mine, and obtain corresponding early warning data;

[0012] The visualization operation module is used to display the three-dimensional real-scene model based on the basic information of the mine, aerial photography data, slope data, and early warning data.

[0013] An open-pit mine information monitoring system of the present invention can acquire and store the monitoring data of the mine through the monitoring module and the cloud data module, can establish a three-dimensional real-scene model of the mine through the acquisition and modeling module, and can evaluate the safety of each area in the mine through the slope morphology analysis module. Finally, the three-dimensional real-scene model is visualized and the corresponding mine data is displayed through the visualization operation module, so that the mine manager can intuitively understand the safety status of each area of ​​the mine through the three-dimensional real-scene model and conduct remote real-time monitoring of the mine, thereby ensuring the efficiency and safety of the open-pit mining operation.

[0014] Preferably, the multiple monitoring devices include drones and airborne cameras; the airborne cameras are installed on the drones; the cloud data module is also used to store aerial survey information of the drones; the aerial survey information includes the drone's equipment information and geographic location, flight routes, route altitudes, flight parameter settings, and flight prevention parameter settings.

[0015] Preferably, the acquisition and modeling module is also used to formulate a flight acquisition plan for the drone according to the needs of the mine; the drone automatically executes the flight acquisition plan, and takes aerial photos of the mine to generate aerial data and sends it to the acquisition and modeling module.

[0016] Preferably, the open pit mine monitoring system further comprises a data normalization module;

[0017] The data normalization module is used to formulate unified specifications for data of the monitoring module, cloud data module, acquisition and modeling module, and slope morphology analysis module.

[0018] Preferably, the data normalization module includes a formula for formulating a unified standard for the ground sampling distance GSD of the route as follows:

[0019]

[0020] Where: pz is the pixel size of the airborne camera, H is the flight altitude, and f is the focal length of the airborne camera.

[0021] Preferably, the monitoring equipment also includes a laser radar; the aerial photography data of the mine includes photographic image data from a drone and reconstructed image data from a laser radar; the acquisition and modeling module includes a real-scene three-dimensional model reconstruction submodule; the real-scene three-dimensional model reconstruction submodule processes the photographic image data from a drone and the reconstructed image data from a laser radar to obtain multi-phase three-dimensional model data, and completes model registration of the three-dimensional real-scene model.

[0022] Preferably, the slope morphology analysis module includes a graphics calculation submodule, a slope automatic measurement submodule, and a slope zoning and grading early warning submodule;

[0023] The graphic calculation submodule is used to identify the slopes in the mine and their corresponding steps, road stops, and intercepting drainage ditches through the three-dimensional real scene model;

[0024] The automatic slope measurement submodule is used to automatically measure the identified slope and its corresponding steps to obtain the slope geometry parameters of the mine; and is used to automatically measure the identified road to obtain the slope of the road;

[0025] The slope zoning and grading warning submodule is used to establish safety design standards, and compare the slope morphological geometric parameters with the safety design standards, so as to evaluate the slope areas in the mine that do not meet the safety design standards and the corresponding warning data.

[0026] Preferably, the slope morphology analysis module includes the following steps for evaluating the safety of the slope area in the mine:

[0027] Step S1. The graphics calculation submodule identifies the slopes and corresponding steps in the mine through the three-dimensional real scene model;

[0028] Step S2. Processing the identified slopes and steps through a refinement algorithm to generate skeleton lines of the slopes and steps;

[0029] Step S3. The automatic slope measurement submodule calculates the step width, slope height, and slope angle through the skeleton lines of the slope and the step, and forms a corresponding step width set, slope height set, and slope angle set;

[0030] Step S4. According to the step width set, the slope height set, and the slope angle set, obtain the corresponding step width monitoring value, slope height monitoring value, and slope angle monitoring value;

[0031] Step S5. The slope zoning and grading warning submodule establishes safety design standards corresponding to step width, safety design standards corresponding to slope height, and safety design standards corresponding to slope angle, and compares and analyzes them with their corresponding monitoring values ​​to obtain slope areas in the mine that do not meet the safety design standards and corresponding warning data.

[0032] Preferably, step S3 includes: establishing a three-dimensional coordinate system of pixel points according to the skeleton lines of the slope and the step, obtaining the intersection point O(x, y, z) of the central axis of the step and the bottom line of the step upslope, and the intersection point O'(x', y', z') of the central axis of the step and the top line of the step downslope, so as to obtain the step width And the step height H = z-z'.

[0033] Preferably, the step S3 further comprises: selecting the slope centerline point A (x a ,y a ,z a ) along the slope normal direction and the horizontal plane to get point B (x b ,y b ,z b ), and draw a perpendicular line between point A and the top line of the slope to get point M(x m ,y m ,z m ), the slope angle α is calculated as follows:

[0034]

[0035] Beneficial effects:

[0036] An open-pit mine information monitoring system of the present invention can acquire and store the monitoring data of the mine through the monitoring module and the cloud data module, can establish a three-dimensional real-scene model of the mine through the acquisition and modeling module, and can evaluate the safety of each area in the mine through the slope morphology analysis module. Finally, the three-dimensional real-scene model is visualized and the corresponding mine data is displayed through the visualization operation module, so that the mine manager can intuitively understand the safety status of each area of ​​the mine through the three-dimensional real-scene model and conduct remote real-time monitoring of the mine, thereby ensuring the efficiency and safety of the open-pit mining operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The figure is a structural block diagram of an open-pit mine information monitoring system according to an embodiment;

[0038] Figure 2 Shown is a flow chart of the slope morphology analysis module of the embodiment for evaluating the safety of the slope area in the mine;

[0039] Figure 3It is a schematic diagram showing the calculation of pixel points of an image by using the Sobel operator in the embodiment. DETAILED DESCRIPTION

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0041] The technical solution of the present invention is described in detail below with specific embodiments.

[0042] Example

[0043] like Figures 1-2 As shown, an open-pit mine information monitoring system of this embodiment includes:

[0044] The monitoring module is used to monitor the open pit, spoil dump, tailings pond, roads and intercepting drainage ditches of the mine through monitoring equipment, and obtain the basic information and monitoring data of the mine;

[0045] Cloud data module, used to communicate with the monitoring module and store basic information and monitoring data of the mine;

[0046] The acquisition and modeling module is used to collect aerial data of the mine and build a three-dimensional real-scene model;

[0047] A slope morphology analysis module is used to identify and measure the three-dimensional real-scene model, evaluate the safety of each area in the mine, and obtain corresponding early warning data;

[0048] Visual operation module, used to display the 3D real scene model based on the basic information of the mine, aerial photography data, slope data, and early warning data;

[0049] The warning processing module uses a system-customized workflow to process warning information for generated warnings. For areas where slope warnings cannot be repaired, a slope stability analysis report is uploaded to prove that the slope is stable and no geometric changes have occurred, so no warning will be issued.

[0050] An open-pit mine information monitoring system of the present embodiment can acquire and store the monitoring data of the mine through the monitoring module and the cloud data module, establish a three-dimensional real-scene model of the mine through the acquisition and modeling module, and then evaluate the safety of each area in the mine through the slope morphology analysis module. Finally, the three-dimensional real-scene model is visualized and the corresponding mine data is displayed through the visualization operation module, so that mine managers can intuitively understand the safety status of each area of ​​the mine through the three-dimensional real-scene model and conduct remote real-time monitoring of the mine, thereby ensuring the efficiency and safety of open-pit mining operations.

[0051] Preferably, the multiple monitoring devices include drones and airborne cameras; the airborne cameras are installed on the drones; the cloud data module is also used to store aerial survey information of the drones; the aerial survey information includes the drone's equipment information and geographic location, flight routes, route altitudes, flight parameter settings, and flight prevention parameter settings.

[0052] Preferably, the acquisition and modeling module is also used to formulate a flight acquisition plan for the drone according to the needs of the mine; the drone automatically executes the flight acquisition plan, and takes aerial photos of the mine to generate aerial data and sends it to the acquisition and modeling module.

[0053] Preferably, the open pit mine monitoring system further comprises a data normalization module;

[0054] The data normalization module is used to formulate unified specifications for the data of the monitoring module, cloud data module, acquisition and modeling module, and slope morphology analysis module. In this embodiment, the data normalization module is used to formulate unified specifications for the flight path, data storage, real-scene 3D model format, sensor data access, warning threshold setting, and warning area output for the drone.

[0055] Preferably, the data normalization module includes a formula for formulating a unified standard for the ground sampling distance GSD of the route as follows:

[0056]

[0057] Where: pz is the pixel size of the airborne camera, in μm; H is the route altitude, in mm: f is the focal length of the airborne camera, in mm; to maintain GSD consistency, the altitude needs to be determined based on the focal length and pixel size of the drone's airborne camera. The pixel size of the drone used in this embodiment is 3.3μm, and the actual focal length is 12.29mm. To ensure that the GSD is 5, the altitude is 186m. Airborne lenses with different parameters need to determine altitudes at different heights. The lateral overlap rate of the route is greater than 70%, and the heading overlap rate is greater than 80%. Terrain flight is used; during aerial survey, the solar altitude angle is greater than 40 degrees, and the shadow multiple is less than 1.2. The best aerial survey time is determined to be between 10 and 16 according to different latitudes and seasons, and the flight time is determined according to the overall time of aerial photography. For aerial photography of mining areas exceeding 15 square kilometers, routes are divided and delineated.

[0058] Preferably, the monitoring equipment also includes a laser radar; the aerial photography data of the mine includes photographic image data from a drone and reconstructed image data from a laser radar; the acquisition and modeling module includes a real-scene three-dimensional model reconstruction submodule; the real-scene three-dimensional model reconstruction submodule processes the photographic image data from a drone and the reconstructed image data from a laser radar to obtain multi-phase three-dimensional model data, and completes model registration of the three-dimensional real-scene model.

[0059] Preferably, the data normalization module includes real-scene 3D model data specifications, including data in DOM, DSM, OSGB and 3Dtiles formats.

[0060] Preferably, the data normalization module includes: the sensor data specification is transmitted in the form of message queues, and the data is exchanged in JSON format. Different types of sensors use different message queue names, and message queues with different names correspond to different message formats.

[0061] Preferably, the data normalization module includes a unified specification of the warning threshold value, which is to use a shp format file to define parameter files such as mine step slopes, intercepting drainage ditches, roads, etc.

[0062] Preferably, the data normalization module includes a unified specification for the output of the warning area, which is to output a file in shp format, including parameters such as the warning area coordinates, warning level, step width slope height, slope angle, intercepting drainage ditch depth and width, road slope, vehicle stop height and width.

[0063] Preferably, the slope morphology analysis module includes a graphics calculation submodule, a slope automatic measurement submodule, a slope zoning and grading warning submodule, a road vehicle gear automatic measurement submodule, and an intercepting and drainage ditch automatic measurement submodule;

[0064] The graphic calculation submodule is used to identify the slopes of the mine and the spoil dump in the mine and their corresponding steps, roads and drainage ditches through the three-dimensional real scene model;

[0065] The automatic slope measurement submodule is used to automatically measure the identified slope and its corresponding steps to obtain the slope morphological geometric parameters of the mine;

[0066] The slope zoning and grading warning submodule is used to establish safety design standards, and compare the slope morphological geometric parameters with the safety design standards, so as to evaluate the slope areas in the mine that do not meet the safety design standards and the corresponding warning data.

[0067] The road side block automatic measurement submodule is used to identify the road in the mine and the block at the edge of the road through the three-dimensional real scene model, and obtain the width, slope and height and width of the mine road;

[0068] The intercepting and drainage ditch automatic measurement submodule is used to identify the intercepting ditch and drainage ditch in the mine through the three-dimensional real scene model, automatically measure the geometric parameters of the intercepting ditch, and determine the continuity of the ditch, that is, whether the ditch is blocked.

[0069] Preferably, the slope morphology analysis module includes the following steps for evaluating the safety of the slope area in the mine:

[0070] Step S1. The graphics calculation submodule identifies the slopes and their corresponding steps in the mine, the intercepting drainage ditches, roads and vehicle stalls in the mine through the three-dimensional real scene model;

[0071] Step S2. Process the identified slope steps, intercepting drainage ditches, and road vehicle stops through a refinement algorithm to generate corresponding skeleton lines;

[0072] Step S3. The automatic slope measurement submodule calculates the step width, slope height, slope angle, intercepting drainage ditch width and depth, road slope, and vehicle stop height and width through the skeleton lines of the slope and the step, and forms a corresponding step width set, slope height set, slope angle set, intercepting drainage ditch width and depth set, road slope set, and vehicle stop height and width set;

[0073] Step S4. According to the step width set, the slope height set, the slope angle set, the intercepting drainage ditch width and depth set, the road slope set, and the vehicle stop height and width set, the corresponding step width monitoring value, slope height monitoring value, slope angle monitoring value, road slope monitoring value, and vehicle stop height and width monitoring value are obtained;

[0074] Step S5. The slope zoning and grading warning submodule establishes safety design standards corresponding to step width, safety design standards corresponding to slope height, safety design standards corresponding to slope angle, mine road safety design standards, and vehicle barrier safety design standards, and compares and analyzes them with their corresponding monitoring values ​​to obtain the slope areas in the mine that do not meet the safety design standards and the corresponding warning data.

[0075] Preferably, the step width set is {w1, w2, w3, w4, ..., w n}, where the maximum value is w max , the minimum value is w min , then the monitoring value of the step width is

[0076] Assume that the slope height set is {H1, H2, H3, H4, ..., H n}, where the maximum value is H max , the minimum value is H min , then the monitoring value of the slope height is

[0077] Assume that the slope angle set is {α1, α2, α3, α4, ..., α n}, where the maximum value is α max , the minimum value is α min , then the monitoring value of the slope angle is

[0078] Preferably, the visualization operation module includes a mine display submodule, a general plan layout display submodule, a change monitoring submodule, a slope monitoring and early warning interaction submodule, and a real-scene three-dimensional profile analysis submodule;

[0079] The mine display submodule is used to display the geographical location and information of the mine through a three-dimensional real-scene model;

[0080] The general plan layout display submodule is used to map the three-dimensional model projection coordinates of the mine through the three-dimensional real scene model;

[0081] The change monitoring submodule is used to generate a terrain rendering of the mine through a three-dimensional real-scene model;

[0082] The slope monitoring and early warning interaction submodule is used to visually display the early warning data of the mine through a three-dimensional real-scene model;

[0083] The real-scene three-dimensional section analysis submodule is used to visually display the vertically cut topography of the mine through a three-dimensional real-scene model.

[0084] Preferably, the monitoring equipment also includes a displacement monitor, a water level gauge, a rain gauge, a GNSS, and a slope radar.

[0085] Preferably, the basic information of the mine includes the location of the mine, mining rights scope documents, mining depth, slope step divisions, and road slope.

[0086] Specifically, the cloud data module includes: 1.1. Formulate unified data standards to achieve unified storage and processing of multi-source heterogeneous data; 1.2. Use file server clusters to build a cloud data center for data storage; 1.3. Use high-performance server clusters to build a cloud computing center for mining data calculations.

[0087] Furthermore, multi-source heterogeneous data refers to data from different types of monitoring equipment from different manufacturers, with diversity in brands, models, and types. These devices may use different communication protocols, data formats, and interface standards, resulting in data diversity.

[0088] Specifically, the acquisition and modeling modules include: 2.1. Establishing an automatic flight control system for drones; 2.2. Establishing a real-scene 3D model reconstruction system; 2.3. Planning routes and formulating periodic flight missions for routes based on the mine construction KML area.

[0089] Furthermore, the collection and modeling module formulates a flight plan according to the needs of the mine. When the flight conditions are met, the drone automatically executes the periodic flight plan, automatically returns to charge when the battery is insufficient, and resumes flight after charging. It automatically selects the time to upload pictures to complete the collection and upload of aerial photography data of the field drone mine.

[0090] Furthermore, the real-scene 3D model reconstruction submodule fully automates the internal image data processing and modeling process of drone orthophotography, oblique photography and lidar 3D reconstruction. The plane coordinate system adopts the CGCS2000 latitude and longitude coordinate system, and the elevation adopts the 1985 national elevation benchmark to generate data in OSGB format. The system uses phase-free control technology and adaptive multi-level matching multi-phase 3D model registration to make the multi-phase 3D model data pixel-level fit to truly reflect the current status of the mine.

[0091] Furthermore, the adaptive multi-level matching multi-temporal 3D model registration method automatically produces digital orthophotos DOM and digital surface models DSM for pyramid construction and segmentation, uses deep learning methods for rough image matching, then performs adaptive high-resolution DOM fine matching, and finally calculates the spatial transformation matrix to complete the model registration.

[0092] Specifically, the slope morphology analysis module includes: 3.1. Establishing an automatic slope morphology recognition system to identify key factors such as open-pit mine slopes, steps and roads; 3.2. Establishing an automatic slope measurement system to calculate through an automatic measurement algorithm; Step 3.1 identifies the geometric parameters of related structures, including but not limited to slope angle and height, step width, vehicle height and width, and tailings pond location, height and surface displacement measurement; 3.3. Establishing a slope zoning and grading early warning system.

[0093] Furthermore, the graphics calculation submodule uses computer graphics technology to obtain a three-dimensional real-life model of the mine, performs preprocessing on the data such as noise reduction, coordinate conversion, data interpolation and resampling, uses Gaussian filtering, mean filtering and other methods to reduce noise, and improves image contrast through techniques such as histogram equalization to make slopes and platforms more obvious.

[0094] Furthermore, the graphics calculation submodule uses computer graphics technology to extract geometric characteristics describing slopes and platforms from the three-dimensional terrain data, including slope, curvature, and direction vectors. The gradient of the image is calculated using the Sobel operator to obtain the gradient magnitude and direction map.

[0095] Furthermore, the Sobel operator includes two sets of 3x3 matrices, which are horizontal and vertical templates respectively; wherein the horizontal template used in the present embodiment to detect the horizontal edge of the image is as follows:

[0096]

[0097] The vertical template used to detect the vertical edges of the image is as follows:

[0098]

[0099] The partial derivatives of the grayscale values ​​of the pixels in the image in the x and y directions can be calculated using the template calculation formula, which can be simplified to:

[0100]

[0101] Among them, Figure 3 As shown in the figure, the Sobel operator calculates the pixel points of the image arranged in 3*3, and their grayscale values ​​are Z1~Z9 respectively, Z5 is the grayscale value of the middle pixel point of the image, Z1~Z4, Z6~Z9 are the grayscale values ​​of the 8 adjacent pixel points around Z5, ranging from 0-255 (2^8).

[0102] Furthermore, the gradient magnitude and corresponding gradient direction of the image can be obtained by calculating the two partial derivatives; the gradient magnitude can highlight the edge of the image, and the gradient direction helps to understand the direction of the edge.

[0103] Furthermore, the Canny edge detection algorithm is used to further extract the edge information of the image and identify potential slope and platform contours. The Canny algorithm uses the gradient amplitude and direction map obtained by the Sobel operator to find the gradient of the image and the corresponding amplitude and azimuth, mainly converting the rectangular coordinates into polar coordinates as follows:

[0104]

[0105] Among them, M is the gradient amplitude of the current pixel (x, y), G x (x, y) is the horizontal gradient value of the current pixel (x, y), G y (x,y) is the vertical gradient value of the current pixel (x,y).

[0106]

[0107] Among them, θ is the gradient direction of the current pixel (x, y), ranging from 0 to 180 degrees, G x (x, y) is the horizontal gradient value of the current pixel (x, y), G y (x,y) is the vertical gradient value of the current pixel (x,y).

[0108] The gradient intensity matrix M[x,y] reflects the edge intensity of the image, the direction matrix θ[x,y] reflects the direction of the edge, and the direction angle θ[x,y] where M[x,y] reaches the local maximum reflects the direction of the edge.

[0109] Furthermore, for each pixel, the following operations are performed: non-maximum suppression technology is applied to filter out non-edge pixels, making the blurred boundary clear; this process retains the maximum value of the gradient intensity at each pixel and filters out other values. The stray response caused by edge detection is eliminated, making the boundary thinner.

[0110] Furthermore, the double threshold technology is used to process the strong and weak boundaries of the image: a high threshold and a low threshold are defined. If the pixel point with gradient intensity lower than the low threshold is suppressed, it is not regarded as an edge point; if it is higher than the high threshold, the pixel point is defined as a strong edge and retained as an edge point; the pixel point between the high and low thresholds is defined as a weak edge and is reserved for further processing.

[0111] Furthermore, the isolated weak edge suppression technology is used to determine whether the weak edges can be retained as strong edges, and finally the strong edges are connected to complete the Canny edge detection.

[0112] Furthermore, the graphics computing submodule classifies and segments the terrain image based on the extracted features, identifies the specific locations of the slopes and platforms, and then smoothes the segmentation results through morphological processing to make the identified slopes and platforms more complete.

[0113] Furthermore, the automatic slope measurement submodule uses the Zhang-Suen thinning algorithm to process the extraction results of the slope and steps to generate the skeleton lines of the slope and steps. The skeleton line is the shape and central axis of the slope, which can effectively simplify the shape and retain its topological characteristics. The skeleton line is further optimized through morphological operations to remove noise and redundant parts to ensure the connectivity and accuracy of the skeleton line. Based on the calculation results of the skeleton lines of the slope and steps, the following slope parameters can be calculated using the three-dimensional coordinate system (x, y, z) of the pixel points:

[0114] Step width, the horizontal distance between adjacent slopes, that is, the horizontal projection width of the step area; draw a vertical line through the center axis of the step, which intersects with the uphill bottom line of the step to get point O(x, y, z), and intersects with the downhill top line of the step to get point O'(x', y', z'), and the step width can be obtained:

[0115] Slope height, calculate the vertical height difference between two adjacent steps, that is, the height of the steps: H = z-z'.

[0116] Similarly, the road width, vehicle stop width and height, and intercepting drainage ditch depth can be obtained.

[0117] The slope angle is calculated by the angle between the slope normal vector and the horizontal plane. Select the slope centerline point A (x a ,y a ,z a ) along the slope normal direction and the horizontal plane to get point B (x b ,y b ,z b ), and draw a perpendicular line between point A and the top line of the slope to get point M(x m ,y m ,z m ), the slope angle α is calculated as follows:

[0118]

[0119] Similarly, the slope of the mine road can be obtained.

[0120] Furthermore, the slope zoning and grading warning submodule identifies potential risk areas and generates warning information based on the comparison results of the calculated detection values ​​and safety design standards. This includes:

[0121] Risk assessment: Based on the results of the deviation analysis, the potential risks of the slope are assessed; if the parameters of a certain slope area deviate significantly from the design standard, it may indicate an increased risk of slope instability and require high attention;

[0122] Warning generation: For the identified high-risk areas, the system automatically generates warning information, including the specific slope location, the size of parameter deviation, possible risk level, etc.;

[0123] Visualization of warning areas: Through the 3D model, the warning areas are intuitively marked on the slope model, making it easier for mine managers to quickly locate and handle these areas.

[0124] Warning area processing: After engineering repairs or providing a slope stability analysis report prove that the warning area has eliminated safety hazards, the warning area will no longer be warned.

[0125] An open-pit mine information monitoring system of this embodiment includes the construction of a basic hardware environment, a unified data management system, a mine three-dimensional real-life model system, a slope, step, road and drainage ditch morphological compliance analysis model, a mine slope early warning system, and a smart digital mine system. The present invention can provide information tools for mining technology and production management, with a three-dimensional real-life model of an open-pit mine automatically fused and modeled by drone orthophotography and laser radar as a digital base, and automatic identification and measurement of slopes, steps, roads, and drainage ditches as the core, automatically obtaining step width, slope height and slope, final slope angle; dynamic stope area location, height and angle; dump and tailings pond height, slope and displacement and other key mining factors. Automatically compare CM-level precision measurement results, and automatically warn when safety thresholds are exceeded. It also integrates functions such as mine video surveillance, personnel and vehicle positioning, electronic fences, water level meters, rain gauges, GNSS, slope radars, ore in and out of the site weighing, and mine environment monitoring. It can carry out real-time monitoring of key areas within the mining area, real-time positioning of mine personnel and vehicles, weighing of all vehicles entering and leaving the mine, and real-time retrieval of monitoring data on the mine environment, making it convenient for managers at all levels to flexibly control and dispatch according to actual production conditions. It has a wider coverage and higher dispatch flexibility and extensiveness.

[0126] An open-pit mine information monitoring system of this embodiment is based on a three-dimensional real-life model of the mine, and uses "automatic mine scanning, automatic cloud modeling, automatic identification and measurement, automatic monitoring and early warning, and automatic data fusion" technical means to solve the problems of automation and intelligent production safety in mines in one stop. The system integrates image recognition, three-dimensional reconstruction, data analysis and safety monitoring technologies, and focuses on improving the safety operation efficiency and risk management capabilities of open-pit mines. Through AI artificial intelligence technology, the system can automatically identify step surfaces, roads and drainage ditches, calculate the geometric parameters of fine slopes, vehicle stops and intercepting drainage ditches, perform step morphology safety assessment, step flatness analysis, slope change monitoring, and safety regulations compliance monitoring, etc., to provide mine managers with data-driven decision support and ensure the efficiency and safety of mining operations.

[0127] The above is a detailed description of an embodiment of an open-pit mine information monitoring system provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An open-pit mine information monitoring system, characterized in that: include: Monitoring module, used to monitor the mine through monitoring equipment and obtain basic information and monitoring data of the mine; Cloud data module, used to communicate with the monitoring module and store basic information and monitoring data of the mine; The acquisition and modeling module is used to collect aerial data of the mine and build a three-dimensional real-scene model; A slope morphology analysis module is used to identify and measure the three-dimensional real-scene model, evaluate the safety of each area in the mine, and obtain corresponding early warning data; The visualization operation module is used to display the three-dimensional real-scene model based on the basic information of the mine, aerial photography data, slope data, and early warning data.

2. The open-pit mine monitoring system according to claim 1, characterized in that: The monitoring equipment includes a drone and an airborne camera; the airborne camera is installed on the drone; the cloud data module is also used to store the aerial survey information of the drone; the aerial survey information includes the drone's equipment information and geographic location, flight route, route altitude, flight parameter settings, and anti-flight parameter settings.

3. The open-pit mine monitoring system according to claim 2, characterized in that: The acquisition and modeling module is also used to formulate a flight acquisition plan for the drone according to the needs of the mine; the drone automatically executes the flight acquisition plan, and takes aerial photos of the mine to generate aerial data and send it to the acquisition and modeling module.

4. The open-pit mine monitoring system according to claim 2, characterized in that: The open pit mine monitoring system also includes a data normalization module; The data normalization module is used to formulate unified specifications for data of the monitoring module, cloud data module, acquisition and modeling module, and slope morphology analysis module.

5. The open-pit mine monitoring system according to claim 4, characterized in that: The data normalization module includes formulas for formulating a unified standard for the ground sampling distance GSD of the route as follows: Where: pz is the pixel size of the airborne camera, H is the flight altitude, and f is the focal length of the airborne camera.

6. The open-pit mine monitoring system according to claim 2, characterized in that: The monitoring equipment also includes a laser radar; the aerial photography data of the mine includes photographic image data from a drone and reconstructed image data from the laser radar; the acquisition and modeling module includes a real-scene three-dimensional model reconstruction submodule; the real-scene three-dimensional model reconstruction submodule processes the photographic image data from the drone and the reconstructed image data from the laser radar to obtain multi-phase three-dimensional model data, and completes model registration of the three-dimensional real-scene model.

7. The open-pit mine monitoring system according to claim 1, characterized in that: The slope morphology analysis module includes a graphics calculation submodule, a slope automatic measurement submodule, and a slope zoning and grading early warning submodule; The graphic calculation submodule is used to identify the slopes and corresponding steps in the mine through the three-dimensional real scene model; The automatic slope measurement submodule is used to automatically measure the identified slope and its corresponding steps to obtain the slope morphological geometric parameters of the mine; The slope zoning and grading warning submodule is used to establish safety design standards, and compare the slope morphological geometric parameters with the safety design standards, so as to evaluate the slope areas in the mine that do not meet the safety design standards and the corresponding warning data.

8. The open-pit mine monitoring system according to claim 7, characterized in that: The slope morphology analysis module includes the following steps to assess the safety of slope areas in a mine: Step S1. The graphics calculation submodule identifies the slopes and corresponding steps in the mine through the three-dimensional real scene model; Step S2. Process the identified slopes and steps through a refinement algorithm to generate corresponding skeleton lines; Step S3. The automatic slope measurement submodule calculates the step width, slope height, and slope angle through the skeleton lines of the slope and the step, and forms a corresponding step width set, slope height set, and slope angle set; Step S4. According to the step width set, the slope height set, and the slope angle set, obtain the corresponding step width monitoring value, slope height monitoring value, and slope angle monitoring value; Step S5. The slope zoning and grading warning submodule establishes safety design standards corresponding to step width, safety design standards corresponding to slope height, and safety design standards corresponding to slope angle, and compares and analyzes them with their corresponding monitoring values ​​to obtain slope areas in the mine that do not meet the safety design standards and corresponding warning data.

9. The open-pit mine monitoring system according to claim 8, characterized in that: The step S3 includes: establishing a three-dimensional coordinate system of pixel points according to the skeleton lines of the slope and the step, obtaining the intersection point O(x, y, z) of the central axis of the step and the bottom line of the step upslope, and the intersection point O'(x', y', z') of the central axis of the step and the top line of the step downslope, so as to obtain the step width And the step height H = z-z'.

10. The open-pit mine monitoring system according to claim 9, characterized in that: The step S3 also includes: selecting the slope centerline point A (x a ,y a ,z a ) along the slope normal direction and the horizontal plane to get point B (x b ,y b ,z b ), and draw a perpendicular line between point A and the top line of the slope to get point M(x m ,y m ,z m ), the slope angle α is calculated as follows:

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