Goaf settlement monitoring method and device, medium and electronic equipment

Abstract

The invention discloses a goaf settlement monitoring method and device, a medium and electronic equipment, and is applied to the technical field of goaf settlement monitoring. Collecting a ground surface settlement value of the goaf by adopting a synthetic aperture radar interference technology; comprehensively determining a settlement result of the goaf according to the multiple single-point inclination angles and the ground surface settlement value; the settlement trend of the goaf is monitored in real time by using the tilt angle sensor pre-embedded in the goaf, so that settlement monitoring can be performed on the goaf to improve the timeliness of the settlement monitoring of the goaf, and the ground surface settlement value of the goaf is acquired by using the synthetic aperture radar interference technology. The settlement result of the goaf is comprehensively determined by combining the settlement trend and the ground surface settlement value, so that the monitoring cost can be reduced as much as possible, and the settlement result of the goaf can be comprehensively determined by combining the settlement trend and the ground surface settlement value to improve the monitoring accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of goaf monitoring, and in particular to a method, device, medium and electronic equipment for monitoring subsidence in goaf. Background Art

[0002] With the continuous exploitation of mineral resources, large-scale ground subsidence has occurred in the goaf area, especially along the goaf tunnel, resulting in large-scale regular uneven subsidence on the ground in the goaf area, which poses a serious threat to the safe production, engineering construction and people's lives and property in the mining area. Goafs have become an important problem restricting the development of mines and the urbanization of the upper part of the goaf. With the mining of deep mines, collapse accidents are prone to occur, and many buildings cannot be built due to the influence of goafs, which brings inconvenience to people's production and life. Therefore, it is necessary to monitor the settlement range and settlement value of goafs.

[0003] At present, settlement monitoring of goafs is mostly carried out through settlement meters, GNSS, INSAR and other technologies. However, the above monitoring technologies still have some shortcomings. For example, the range of settlement meters is small, and benchmarks need to be set up when using settlement meters for monitoring. However, for large-scale settlement areas, the benchmarks are also sinking, so the benchmarks must be monitored and calibrated regularly; GNSS technology is more suitable for relatively uniform settlement areas. The accuracy of existing technologies is about ±5mm, the monitoring accuracy is relatively rough, and the cost is high. In addition, due to the large area of ​​settlement areas, if all GNSS monitoring is used, a large number of instruments are required, the monitoring accuracy is limited, and the monitoring cost is high; INSAR technology can measure small movements or changes, and is very sensitive to vertical movement and moving targets on the surface, with an accuracy of up to millimeters. However, INSAR technology cannot distinguish interference objects such as plants on the ground, which affects its monitoring accuracy, and the cost of INSAR image acquisition and analysis is high, which is not suitable for large-scale and high-frequency monitoring.

[0004] Therefore, there is an urgent need for a method that can conduct large-scale, high-precision, and low-cost ground subsidence monitoring in goaf areas. Summary of the invention

[0005] In order to solve the above technical problems, this application is proposed. The embodiments of this application provide a settlement monitoring method, device, medium and electronic equipment for goaf areas, which use a tilt sensor pre-buried in the goaf area to monitor the settlement trend of the goaf area in real time, and use synthetic aperture radar interferometry technology to collect the surface settlement value of the goaf area, and combine the settlement trend and the surface settlement value to comprehensively determine the settlement result of the goaf area, so as to improve the monitoring accuracy and timeliness, and at the same time, it can also minimize the monitoring cost.

[0006] According to one aspect of the present application, a method for monitoring the subsidence of a goaf is provided, comprising: using an inclination sensor to collect a single-point inclination angle of the goaf; wherein the inclination sensor comprises a plurality of sensors arranged in the goaf along the mining direction of the goaf; using synthetic aperture radar interferometry technology to collect surface subsidence values ​​of the goaf; and comprehensively determining the subsidence results of the goaf based on the plurality of single-point inclination angles and the surface subsidence values.

[0007] The present application provides a method for monitoring the subsidence of goaf, which uses an inclination sensor to collect a single-point inclination angle of the goaf; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; synthetic aperture radar interferometry technology is used to collect the surface subsidence value of the goaf; based on the multiple single-point inclination angles and the surface subsidence values, the subsidence result of the goaf is comprehensively determined; that is, the inclination sensor pre-buried in the goaf is used to monitor the subsidence trend of the goaf in real time, so that the subsidence monitoring of the goaf can be implemented to improve the timeliness of the subsidence monitoring of the goaf, and the synthetic aperture radar interferometry technology is used to collect the surface subsidence value of the goaf, and the subsidence result of the goaf is comprehensively determined in combination with the subsidence trend and the surface subsidence value, which can not only reduce the monitoring cost as much as possible, but also can comprehensively determine the subsidence result of the goaf in combination with the subsidence trend and the surface subsidence value, so as to improve the monitoring accuracy.

[0008] In one embodiment, the comprehensive determination of the settlement result of the goaf based on the multiple single-point inclination angles and the surface settlement values ​​includes: fitting the settlement trend of the goaf based on the multiple single-point inclination angles; and comprehensively determining the settlement result of the goaf based on the settlement trend and the surface settlement values.

[0009] The present application utilizes inclination sensors at multiple locations to obtain multiple single-point inclination angles through real-time monitoring, and obtains the overall settlement trend of the goaf based on the fitting of the multiple single-point inclination angles. Subsequently, based on the settlement trend and the surface settlement value, the settlement result of the goaf is comprehensively determined, that is, the settlement trend and the surface settlement value are corrected with each other to obtain a more accurate settlement result of the goaf.

[0010] In one embodiment, the use of synthetic aperture radar interferometry technology to collect the surface subsidence value of the goaf includes: selecting an open area of ​​the goaf as a target area; using synthetic aperture radar interferometry technology to collect the surface subsidence value of the target area; and comprehensively determining the subsidence result of the goaf based on the subsidence trend and the surface subsidence value includes: determining the subsidence result of the goaf based on the surface subsidence value of the target area and the subsidence trend of the goaf.

[0011] The present application pre-selects an open area in a goaf as a target area, and uses synthetic aperture radar interferometry technology to collect surface settlement values ​​of the target area to obtain relatively accurate surface settlement values ​​of the target area. According to the relative settlement amounts of each point in the entire goaf, combined with the surface settlement values ​​of the target area, the overall height of the settlement trend curve of the entire goaf is corrected. That is, the settlement trend and absolute settlement value of the goaf are calibrated with the surface settlement values ​​of the target area to obtain the settlement results of the entire goaf. This not only can improve the accuracy of the collected surface settlement values ​​by using the open area, but also can reduce the collection range of the synthetic aperture radar interferometry technology to reduce the amount of data, improve collection efficiency, and at the same time reduce costs as much as possible.

[0012] In one embodiment, before using the inclination sensor to collect the single-point inclination angle of the goaf, the method also includes: performing initial calibration on the inclination sensor to obtain the initial angle of the inclination sensor; fitting the settlement trend of the goaf based on the multiple single-point inclination angles includes: fitting the settlement trend of the goaf based on the multiple single-point inclination angles and the corresponding initial angles.

[0013] The present application performs an initial calibration on the inclination sensor when the inclination sensor is deployed to obtain the initial angle of the inclination sensor, and eliminates the interference of the initial angle in the subsequent calculation of the inclination angle to improve the monitoring accuracy of the inclination angle, thereby improving the monitoring accuracy of the subsidence trend of the goaf.

[0014] In one embodiment, fitting the settlement trend of the goaf according to the multiple single-point inclination angles and the corresponding initial angles includes: calculating the angle difference between the multiple single-point inclination angles and the corresponding initial angles; calculating the single-point change value corresponding to each of the inclination sensors based on the spacing between adjacent inclination sensors and the angle difference; wherein the single-point change value is the depth change value between the two ends of the inclination sensor; and fitting the settlement trend of the goaf according to all the single-point change values.

[0015] After monitoring multiple single-point inclination angles obtained by multiple discretely arranged inclination sensors, the present application calculates the angle difference between the single-point inclination angle corresponding to each inclination sensor and the initial angle in combination with the initial angle, and calculates the single-point change value corresponding to each inclination sensor based on the distance and angle difference between adjacent inclination sensors. After obtaining the single-point change value corresponding to each sensor, all the single-point change values ​​are combined to fit the settlement trend of the goaf, that is, the surface curve trend of the longitudinal section of the goaf is obtained, so as to obtain the settlement overview of the entire goaf.

[0016] In one embodiment, the calculating of the single-point change value corresponding to each of the inclination sensors based on the spacing between adjacent inclination sensors and the angle difference includes: calculating the single-point change value corresponding to each of the inclination sensors based on the spacing between adjacent inclination sensors, the angle difference and the single-point change value corresponding to a preceding sensor; wherein the preceding sensor is an adjacent sensor of the current sensor.

[0017] After obtaining the distance and angle difference between adjacent inclination sensors, the present application can calculate the single-point change value corresponding to each inclination sensor based on the spacing between adjacent inclination sensors, the angle difference and the single-point change value corresponding to the preceding sensor. After obtaining the single-point change value corresponding to each sensor, all the single-point change values ​​are combined to fit the settlement trend of the goaf, that is, to obtain the surface curve trend of the longitudinal section of the goaf, thereby obtaining the settlement overview of the entire goaf.

[0018] In one embodiment, before the surface subsidence value of the goaf is collected by using synthetic aperture radar interference technology, the method further includes: calculating the angle difference between the single point inclination angle and the corresponding initial angle; the surface subsidence value of the goaf is collected by using synthetic aperture radar interference technology, including: if the angle difference is greater than a preset difference threshold, the surface subsidence value is collected by using synthetic aperture radar interference technology.

[0019] This application uses an inclination sensor to collect the single-point inclination angle of the corresponding monitoring point on the goaf in real time, and after monitoring the single-point inclination angle, calculates the angle difference between the single-point inclination angle and the corresponding initial angle. When the settlement trend is large, synthetic aperture radar interferometry technology is used to collect surface settlement values, so as to obtain the settlement results of the goaf, and then realize the monitoring of larger settlement changes in the goaf, while saving costs as much as possible.

[0020] According to another aspect of the present application, a subsidence monitoring device for a goaf is provided, comprising: an angle acquisition module, used to acquire a single-point inclination angle of the goaf using an inclination sensor; wherein the inclination sensor comprises a plurality of sensors arranged in the goaf along the mining direction of the goaf; a surface acquisition module, used to acquire surface subsidence values ​​of the goaf using synthetic aperture radar interferometry technology; and a result determination module, used to comprehensively determine the subsidence result of the goaf based on the plurality of single-point inclination angles and the surface subsidence values.

[0021] The present application provides a subsidence monitoring device for goaf areas, which uses an angle acquisition module to acquire a single-point inclination angle of the goaf using an inclination sensor; wherein the inclination sensors include multiple ones, and are arranged in the goaf along the mining direction of the goaf; the surface acquisition module uses synthetic aperture radar interferometry technology to acquire surface settlement values ​​of the goaf; the result determination module comprehensively determines the settlement results of the goaf according to multiple single-point inclination angles and surface settlement values; that is, the inclination sensor pre-buried in the goaf is used to monitor the settlement trend of the goaf in real time, thereby realizing settlement monitoring of the goaf to improve the timeliness of settlement monitoring of the goaf, and using synthetic aperture radar interferometry technology to acquire the surface settlement values ​​of the goaf, and combining the settlement trend and the surface settlement value to comprehensively determine the settlement results of the goaf, which can not only reduce the monitoring cost as much as possible, but also comprehensively determine the settlement results of the goaf in combination with the settlement trend and the surface settlement value to improve the monitoring accuracy.

[0022] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above methods.

[0023] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute any of the above-described methods.

[0024] The present application provides a method, device, medium and electronic equipment for monitoring the subsidence of goaf, which uses an inclination sensor to collect the single-point inclination angle of the goaf; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; synthetic aperture radar interferometry technology is used to collect the surface subsidence value of the goaf; based on the multiple single-point inclination angles and the surface subsidence values, the subsidence result of the goaf is comprehensively determined; that is, the inclination sensor pre-buried in the goaf is used to monitor the subsidence trend of the goaf in real time, so that the subsidence monitoring of the goaf can be implemented to improve the timeliness of the subsidence monitoring of the goaf, and the synthetic aperture radar interferometry technology is used to collect the surface subsidence value of the goaf, and the subsidence result of the goaf is comprehensively determined in combination with the subsidence trend and the surface subsidence value, which can not only reduce the monitoring cost as much as possible, but also can comprehensively determine the subsidence result of the goaf in combination with the subsidence trend and the surface subsidence value to improve the monitoring accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of a method for monitoring subsidence in a goaf provided in an embodiment of the present application.

[0026] Figure 2 It is a structural block diagram of a subsidence monitoring device for goaf areas provided in an embodiment of the present application.

[0027] Figure 3 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Furthermore, in the exemplary embodiments, since the same reference numerals denote the same components having the same structure or the same steps of the same method, if one embodiment is exemplarily described, only structures or methods different from the described embodiment are described in other exemplary embodiments.

[0030] Throughout the specification and claims, when a component is described as being “connected” to another component, the component may be “directly connected” to the other component, or “electrically connected” to the other component through a third component. In addition, unless explicitly described to the contrary, the term “include” and its corresponding terms should be understood to include only the components described, and should not be understood to exclude any other components.

[0031] The method provided in the embodiment of the present application can be executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited thereto.

[0032] Figure 1 Schematic diagram of a method for monitoring the subsidence of a goaf provided in an embodiment of the present application. Figure 1 As shown, the settlement monitoring method of the goaf includes the following steps: Step 110: Use an inclination sensor to collect the single-point inclination angle of the goaf.

[0033] Among them, the inclination sensor includes multiple ones, and is arranged in the goaf along the mining direction of the goaf. Since the goaf is usually large in area, if the inclination sensors are continuously arranged in the goaf, a large number of sensors will be required, resulting in high economic costs. If the number of inclination sensors arranged in the goaf is too small, the monitoring accuracy will be low due to the small number of collected single points. This application selects an appropriate number of inclination sensors based on comprehensive consideration of economic costs and monitoring accuracy. In order to improve the monitoring effect of the inclination sensors, this application arranges the inclination sensors along the mining direction of the goaf (locations with large settlement and more prone to collapse) to achieve accurate monitoring.

[0034] Step 120: Using synthetic aperture radar interferometry technology to collect surface settlement values ​​of the goaf.

[0035] Synthetic aperture radar interferometry refers to synthetic aperture radar (InSAR) using interferometric measurement technology. It is a recently developed space-based earth observation technology and a product of the combination of traditional SAR remote sensing technology and radio astronomy interferometry technology. It uses radar to transmit microwaves to the target area, and then receives the echo reflected by the target to obtain a SAR complex image pair of the same target area. If there is a coherent condition between the complex image pairs, the conjugate multiplication of the SAR complex image pairs can obtain an interference pattern. According to the phase value of the interference pattern, the path difference of the microwaves in the two imagings is obtained, thereby calculating the topography, landforms and surface changes of the target area. Synthetic aperture radar interferometry has high measurement accuracy and can quickly realize large-area measurement, but the cost of synthetic aperture radar interferometry is high and the measurement cycle is long (that is, it cannot be monitored). This application collects the surface settlement value of the goaf area through synthetic aperture radar interferometry to obtain a more accurate settlement state of the surface of the goaf area.

[0036] Step 130: Comprehensively determine the settlement result of the goaf based on multiple single-point inclination angles and surface settlement values.

[0037] After obtaining the surface subsidence values ​​of the goaf using synthetic aperture radar interferometry technology, the present application can combine the multiple single-point inclination angles obtained by real-time monitoring of the inclination sensor and the surface subsidence values ​​intermittently collected using synthetic aperture radar interferometry technology to comprehensively calculate the subsidence results of the goaf. This can not only make up for the long cycle and high cost problems of synthetic aperture radar interferometry technology, but also make up for the large monitoring errors (including monitoring errors and cumulative errors) of the inclination sensor.

[0038] The present application provides a method for monitoring the subsidence of goaf, which uses an inclination sensor to collect a single-point inclination angle of the goaf; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; synthetic aperture radar interferometry technology is used to collect the surface subsidence value of the goaf; based on the multiple single-point inclination angles and the surface subsidence values, the subsidence result of the goaf is comprehensively determined; that is, the inclination sensor pre-buried in the goaf is used to monitor the subsidence trend of the goaf in real time, so that the subsidence monitoring of the goaf can be implemented to improve the timeliness of the subsidence monitoring of the goaf, and the synthetic aperture radar interferometry technology is used to collect the surface subsidence value of the goaf, and the subsidence result of the goaf is comprehensively determined in combination with the subsidence trend and the surface subsidence value, which can not only reduce the monitoring cost as much as possible, but also can comprehensively determine the subsidence result of the goaf in combination with the subsidence trend and the surface subsidence value to improve the monitoring accuracy.

[0039] In one embodiment, the specific implementation method of the above step 130 may be: fitting the settlement trend of the goaf according to multiple single-point inclination angles; and comprehensively determining the settlement result of the goaf according to the settlement trend and the surface settlement value.

[0040] Since the inclination sensor is pre-installed under the surface of the goaf, the inclination sensor will also be driven to tilt as the goaf settles, so the settlement degree of the corresponding position can be known according to the inclination angle of the inclination sensor. Since there are certain rules or trends in the settlement of the goaf, for example, the longitudinal section of the settlement surface is approximately a basin-shaped structure, the present application uses inclination sensors at multiple locations to monitor in real time to obtain multiple single-point inclination angles, and fits the overall settlement trend of the goaf based on the multiple single-point inclination angles, such as the top curve trend of the settlement surface (which can be the ground surface), and then comprehensively determines the settlement result of the goaf based on the settlement trend and the surface settlement value. Specifically, since the inclination sensor can only monitor its inclination angle, the inclination angle of the inclination sensor is affected by the settlement at the corresponding position and is also interfered by other factors (such as interference from hard materials in the soil layer, etc.), the inclination angle of the inclination sensor may not necessarily truly reflect the settlement degree of the corresponding position, and the surface settlement value collected by synthetic aperture radar interferometry technology may also be inaccurate due to surface interference objects (such as vegetation, etc.). Therefore, this application uses the settlement trend and surface settlement value to correct each other to obtain a more accurate settlement result for the goaf.

[0041] In one embodiment, the specific implementation method of the above step 120 may be: select an open area in the goaf as the target area; use synthetic aperture radar interferometry technology to collect the surface subsidence value of the target area; correspondingly, the specific implementation method of the above step 130 may be: determine the subsidence result of the goaf based on the surface subsidence value of the target area and the subsidence trend of the goaf.

[0042] When there are many interfering objects on the ground surface, the surface subsidence values obtained by its acquisition will be deviated. In order to reduce the influence of the interfering objects on the surface subsidence value collected by the synthetic aperture radar interferometry technology, the present application can pre-select an open area in the goaf (that is, an area without interfering objects or with fewer interfering objects, such as an open area, etc.) as the target area, and use the synthetic aperture radar interferometry technology to collect the surface subsidence value of the target area to obtain a relatively accurate surface subsidence value of the target area, and then combine the subsidence trend of the entire goaf to comprehensively determine the subsidence result of the entire goaf. Specifically, after obtaining the subsidence trend of the entire goaf and the surface subsidence value of the target area, that is, according to the relative subsidence amount of each point in the entire goaf, and then combining the surface subsidence value of the target area (that is, the absolute subsidence value) to correct the overall height of the subsidence trend curve of the entire goaf, that is, determine the position of the subsidence trend curve of the entire goaf on the subsidence amount axis according to the absolute subsidence value of the target area to obtain the subsidence amount of all points in the entire goaf. That is, calibrate the subsidence trend and absolute subsidence value of the goaf with the surface subsidence value of the target area to obtain the subsidence result of the entire goaf, which can not only improve the accuracy of the collected surface subsidence value by using the open area, but also reduce the acquisition range of the synthetic aperture radar interferometry technology to reduce the data volume and improve the acquisition efficiency, and at the same time can reduce the cost as much as possible.

[0043] In one embodiment, before step 110, the above method may further include: performing an initial calibration on the inclination sensor to obtain the initial angle of the inclination sensor; correspondingly, the specific implementation manner of the above step 130 may be: fitting the subsidence trend of the goaf according to a plurality of single-point inclination angles and the corresponding initial angles.

[0044] Since the settlement of the goaf also changes slowly, in order to monitor the change in the settlement of the goaf in real time, a tilt sensor with higher monitoring accuracy is needed. When the tilt sensor is laid out, if the laying state of the tilt sensor is non-horizontal, that is, the tilt sensor has an initial angle at the beginning of its laying, the initial angle may be included in the settlement of the goaf in the subsequent calculation process, and the accumulation or superposition of multiple initial angles may cause a large deviation. Therefore, the present application performs an initial calibration on the tilt sensor when laying out the tilt sensor to obtain the initial angle of the tilt sensor, and eliminates the interference of the initial angle in the subsequent calculation of the tilt angle to improve the monitoring accuracy of the tilt angle, thereby improving the monitoring accuracy of the settlement trend of the goaf. Specifically, when calculating the inclination angle, the present application can use the single-point inclination angle obtained by the current monitoring to subtract the initial angle, and then obtain the angle change of the inclination sensor from the initial state to the current state, and then obtain the settlement angle and settlement amount of the corresponding position of the inclination sensor. After calculating the settlement amount or settlement angle at the corresponding position of each inclination sensor, the settlement trend of the goaf is obtained by fitting according to multiple discrete settlement amounts or settlement angles. The specific fitting method can be obtained by least squares fitting. Usually, the settlement trend of the goaf is close to a quadratic curve. Therefore, the present application can obtain a quadratic curve by fitting according to discrete settlement amounts or settlement angles. It should be understood that the present application can select other fitting methods according to the needs of the actual application scenario, and can also fit other curves, such as cubic curves, etc. The present application does not limit the specific fitting method and fitting curve.

[0045] In one embodiment, the above-mentioned settlement trend may be specifically obtained by: calculating the angle difference between multiple single-point inclination angles and the corresponding initial angle; calculating the single-point change value corresponding to each inclination sensor based on the spacing and angle difference between adjacent inclination sensors, wherein the single-point change value is the depth change value between the two ends of the inclination sensor; and fitting the settlement trend of the goaf according to all the single-point change values.

[0046] As the goaf continues to sink, the inclination angle of the inclination sensor located at the center of the goaf is larger than that of the inclination angle of the inclination sensor at the edge, and the settlement depth of the inclination sensor located at the center of the goaf is deeper than that of the inclination sensor at the edge. Therefore, if the settlement value of the corresponding monitoring point is calculated only by the inclination angle of an independent single inclination sensor, the calculation result may not be accurate due to the overall sinking of the inclination sensor. After monitoring multiple single-point inclination angles obtained by multiple discretely arranged inclination sensors, the present application calculates the angle difference between the single-point inclination angle corresponding to each inclination sensor and the initial angle (that is, the inclination angle change of the inclination sensor since its arrangement) in combination with the initial angle of each inclination sensor, and calculates the single-point change value corresponding to each inclination sensor (that is, the settlement depth of one end of the inclination sensor relative to the other end, that is, the depth change value between the two ends of the inclination sensor) based on the distance and angle difference between adjacent inclination sensors. After obtaining the single-point change value corresponding to each sensor, all the single-point change values ​​are combined to fit the settlement trend of the goaf, that is, the surface curve trend of the longitudinal section of the goaf, so as to obtain the settlement overview of the entire goaf.

[0047] In one embodiment, the single-point change value may be calculated by calculating the single-point change value corresponding to each inclination sensor based on the spacing between adjacent inclination sensors, the angle difference and the single-point change value corresponding to the preceding sensor; wherein the preceding sensor is an adjacent sensor of the current sensor.

[0048] After obtaining the distance and angle difference between adjacent inclination sensors, the present application can calculate the single-point change value corresponding to each inclination sensor based on the spacing between adjacent inclination sensors, the angle difference and the single-point change value corresponding to the preceding sensor. Specifically, for the current inclination sensor, its angle difference represents the relative inclination angle (angle difference) at both ends of the current inclination sensor, and the settlement amount of the current inclination sensor relative to the preceding sensor is calculated based on the relative inclination angle and the distance between the adjacent inclination sensors, for example: the settlement amount of the current inclination sensor relative to the preceding sensor is equal to the tangent value of the relative inclination angle multiplied by the distance between the adjacent inclination sensors, plus the single-point change value of the preceding inclination sensor, that is, the single-point change value of the current inclination sensor = the tangent value of the relative inclination angle × the distance between the adjacent inclination sensors + the single-point change value of the preceding inclination sensor. It should be understood that the present application only estimates the relative settlement between the current inclination sensor and the preceding inclination sensor based on the distance between adjacent inclination sensors. In order to improve the estimation accuracy, the layout density of the inclination sensors can be appropriately increased, that is, the distance between adjacent inclination sensors can be reduced. When adjacent inclination sensors are adjacent, this distance is the length of the inclination sensors.

[0049] In one embodiment, before step 120, the method may further include: calculating the angle difference between the single-point inclination angle and the corresponding initial angle; correspondingly, the specific implementation of step 120 may be: if the angle difference is greater than a preset difference threshold, then using synthetic aperture radar interferometry technology to collect surface subsidence values.

[0050] Since the inclination sensor is pre-deployed under the surface of the goaf, the present application can use the inclination sensor to collect the single-point inclination angle of the corresponding monitoring point on the goaf in real time, and after monitoring the single-point inclination angle, calculate the angle difference between the single-point inclination angle and the corresponding initial angle (the inclination angle of the inclination sensor relative to the surface when deployed, usually zero). If the angle difference is greater than the preset difference threshold, it means that the settlement amount of the monitoring point corresponding to the inclination sensor is large. At this time, synthetic aperture radar interferometry technology can be used to collect surface settlement values, and combined with the settlement trend of the goaf, the settlement result of the goaf can be calculated, so that the settlement trend of the monitoring point can be monitored by the inclination sensor. If the settlement trend is small, the frequency of collecting surface settlement values ​​can be reduced to save costs. When the settlement trend is large, synthetic aperture radar interferometry technology is used to collect surface settlement values, so that the settlement result of the goaf can be obtained, and then the settlement changes (large changes) of the goaf can be monitored.

[0051] Figure 2 : is a structural block diagram of a settlement monitoring device for a goaf area provided in an embodiment of the present application. Figure 2 As shown, the subsidence monitoring device 20 of the goaf includes: an angle acquisition module 21, which is used to use an inclination sensor to collect a single-point inclination angle of the goaf; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; a surface acquisition module 22, which is used to use synthetic aperture radar interferometry technology to collect surface settlement values ​​of the goaf; and a result determination module 23, which is used to comprehensively determine the settlement result of the goaf based on multiple single-point inclination angles and surface settlement values.

[0052] The present application provides a subsidence monitoring device for goaf, which uses an angle acquisition module 21 to acquire a single-point inclination angle of the goaf using an inclination sensor; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; the surface acquisition module 22 uses synthetic aperture radar interferometry technology to acquire the surface settlement value of the goaf; the result determination module 23 comprehensively determines the settlement result of the goaf based on the multiple single-point inclination angles and the surface settlement values; that is, the inclination sensor pre-buried in the goaf is used to monitor the settlement trend of the goaf in real time, so that settlement monitoring of the goaf can be implemented to improve the timeliness of settlement monitoring of the goaf, and the synthetic aperture radar interferometry technology is used to acquire the surface settlement value of the goaf, and the settlement result of the goaf is comprehensively determined in combination with the settlement trend and the surface settlement value, which can not only reduce the monitoring cost as much as possible, but also comprehensively determine the settlement result of the goaf in combination with the settlement trend and the surface settlement value, so as to improve the monitoring accuracy.

[0053] In one embodiment, the result determination module 23 may be further configured to: obtain the settlement trend of the goaf by fitting according to multiple single-point inclination angles; and comprehensively determine the settlement result of the goaf according to the settlement trend and the surface settlement value.

[0054] In one embodiment, the above-mentioned surface acquisition module 22 can be further configured as: selecting an open area in the goaf as the target area; using synthetic aperture radar interferometry technology to collect the surface settlement value of the target area; correspondingly, the above-mentioned result determination module 23 can be further configured as: determining the settlement result of the goaf based on the surface settlement value of the target area and the settlement trend of the goaf.

[0055] In one embodiment, the above-mentioned goaf subsidence monitoring device 20 can be further configured to: perform initial calibration on the inclination sensor to obtain the initial angle of the inclination sensor; correspondingly, the above-mentioned result determination module 23 can be further configured to: fit the subsidence trend of the goaf according to multiple single-point inclination angles and the corresponding initial angles.

[0056] In one embodiment, the above-mentioned subsidence trend may be specifically acquired by: calculating the angle difference between multiple single-point inclination angles and the corresponding initial angle; calculating the single-point change value corresponding to each inclination sensor based on the spacing and angle difference between adjacent inclination sensors; wherein the single-point change value is the depth change value between the two ends of the inclination sensor; and fitting the subsidence trend of the goaf based on all the single-point change values.

[0057] In one embodiment, the single-point change value may be calculated by calculating the single-point change value corresponding to each inclination sensor based on the spacing between adjacent inclination sensors, the angle difference and the single-point change value corresponding to the preceding sensor; wherein the preceding sensor is an adjacent sensor of the current sensor.

[0058] In one embodiment, the above-mentioned goaf subsidence monitoring device 20 can be further configured to: calculate the angle difference between the single-point inclination angle and the corresponding initial angle; correspondingly, the above-mentioned surface acquisition module 22 can be further configured to: if the angle difference is greater than a preset difference threshold, then use synthetic aperture radar interferometry technology to collect surface subsidence values.

[0059] Below, reference Figure 3 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0060] like Figure 3 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0061] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0062] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0063] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0064] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0065] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0066] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0067] Of course, to simplify, Figure 3 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0068] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0069] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), a pluggable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0070] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for monitoring subsidence in a goaf, characterized in that: include: A single-point inclination angle of the goaf is collected by using an inclination sensor; wherein the inclination sensor comprises a plurality of sensors, which are arranged in the goaf along the mining direction of the goaf; Using synthetic aperture radar interferometry technology to collect surface settlement values ​​of the goaf; The settlement result of the goaf is comprehensively determined based on the multiple single-point inclination angles and the surface settlement values.

2. The method according to claim 1, characterized in that The step of comprehensively determining the settlement result of the goaf according to the plurality of single-point inclination angles and the surface settlement values ​​comprises: According to the plurality of single-point inclination angles, fitting is performed to obtain the settlement trend of the goaf; The settlement result of the goaf is comprehensively determined based on the settlement trend and the surface settlement value.

3. The method according to claim 2, characterized in that The method of collecting the surface subsidence value of the goaf area by using synthetic aperture radar interferometry technology includes: Selecting an open area in the goaf as a target area; Using synthetic aperture radar interferometry technology to collect surface subsidence values ​​in the target area; The step of comprehensively determining the settlement result of the goaf according to the settlement trend and the surface settlement value comprises: Based on the surface subsidence value of the target area and the subsidence trend of the goaf area, a subsidence result of the goaf area is determined.

4. The method according to claim 2, characterized in that: Before using the inclination sensor to collect the single-point inclination angle of the goaf, the method further includes: Performing initial calibration on the inclination sensor to obtain an initial angle of the inclination sensor; The fitting of the settlement trend of the goaf according to the multiple single-point inclination angles comprises: According to the plurality of single-point inclination angles and the corresponding initial angles, the settlement trend of the goaf is obtained by fitting.

5. The method according to claim 4, characterized in that The fitting of the settlement trend of the goaf according to the plurality of single-point inclination angles and the corresponding initial angles comprises: Calculating the angle differences between the plurality of single-point tilt angles and the corresponding initial angles; Based on the spacing between adjacent inclination sensors and the angle difference, a single-point change value corresponding to each inclination sensor is calculated; wherein the single-point change value is a depth change value between two ends of the inclination sensor; According to all the single-point change values, the settlement trend of the goaf is obtained by fitting.

6. The method according to claim 5, characterized in that The calculating the single-point change value corresponding to each of the inclination sensors based on the spacing between the adjacent inclination sensors and the angle difference comprises: The single-point change value corresponding to each of the inclination sensors is calculated based on the spacing between adjacent inclination sensors, the angle difference and the single-point change value corresponding to the preceding sensor; wherein the preceding sensor is an adjacent sensor of the current sensor.

7. The method according to claim 4, characterized in that Before acquiring the surface subsidence value of the goaf area by using synthetic aperture radar interferometry technology, the method further includes: Calculating the angle difference between the single-point tilt angle and the corresponding initial angle; The method of collecting the surface subsidence value of the goaf area by using synthetic aperture radar interferometry technology includes: If the angle difference is greater than a preset difference threshold, synthetic aperture radar interferometry technology is used to collect the surface subsidence value.

8. A settlement monitoring device for goaf area, characterized in that: include: An angle acquisition module, used for acquiring a single-point inclination angle of the goaf using an inclination sensor; wherein the inclination sensor comprises a plurality of sensors, and is arranged in the goaf along the mining direction of the goaf; A surface acquisition module, used for acquiring the surface settlement value of the goaf area by using synthetic aperture radar interferometry technology; The result determination module is used to comprehensively determine the settlement result of the goaf according to the multiple single-point inclination angles and the surface settlement values.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method described in any one of claims 1 to 7.

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