Method, device, medium and electronic equipment for monitoring subsidence of goaf

Abstract

The present application discloses a method, device, medium and electronic equipment for monitoring the settlement of goaf, which are applied to the technical field of settlement monitoring technology of goaf, by using an inclination sensor to collect the single-point inclination angle of the goaf; using synthetic aperture radar interference technology to collect the surface settlement value of the goaf; comprehensively determining the settlement result of the goaf based on multiple single-point inclination angles and surface settlement values; that is, using an inclination sensor pre-buried in the goaf 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 interference technology to collect the surface settlement value of the goaf, and combining the settlement trend and the surface settlement value to comprehensively determine the settlement result of the goaf, 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 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] The continuous exploitation of mineral resources has led to widespread ground subsidence in goaf areas, particularly along the direction of goaf tunnels. This has resulted in large-scale, regular, and uneven ground subsidence in goaf areas, posing a serious threat to mining safety, project construction, and the lives and property of the people. Goafs have become a major obstacle restricting the development of mines and the urbanization of their surrounding areas. As mining progresses deeper, collapses are more likely to occur, and the impact of goafs has prevented many buildings from being constructed, causing inconvenience to people's production and daily lives. Therefore, it is necessary to monitor the scope and value of subsidence in goaf areas.

[0003] Currently, settlement monitoring in goafs is mostly performed using technologies such as settlement meters, GNSS, and INSAR. However, these monitoring technologies still have some shortcomings. For example, settlement meters have a small measuring range, and benchmarks must be deployed when monitoring with them. However, for large settlement areas, these benchmarks will also be sinking, so they must be regularly monitored and calibrated. GNSS technology is more suitable for areas with relatively uniform settlement. The accuracy of existing technology is approximately ±5mm, which makes monitoring accuracy relatively rough and the cost is high. In addition, due to the large area of ​​the settlement area, if GNSS monitoring is fully adopted, a large number of instruments would be required, resulting in limited monitoring accuracy and high monitoring costs. INSAR technology can measure small movements or changes and is very sensitive to vertical surface movement and moving targets, with an accuracy of up to millimeters. However, INSAR technology cannot distinguish between interfering objects such as plants on the ground, which affects its monitoring accuracy. In addition, the cost of acquiring and analyzing INSAR images is high, making it unsuitable for large-scale and high-frequency monitoring.

[0004] Therefore, there is an urgent need for a method that can monitor ground subsidence in goafs over a large area with high precision and low cost. Summary of the Invention

[0005] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method, device, medium and electronic equipment for monitoring the settlement of a goaf, which uses a tilt sensor pre-buried in the goaf to monitor the settlement trend of the goaf in real time, and uses synthetic aperture radar interferometry technology to collect the surface settlement value of the goaf, and combines the settlement trend and surface settlement value to comprehensively determine the settlement result of the goaf, 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 includes multiple ones and is arranged in the goaf along the mining direction of the goaf; using synthetic aperture radar interferometry technology to collect the surface subsidence value of the goaf; and comprehensively determining the subsidence result of the goaf based on the multiple single-point inclination angles and the surface subsidence values.

[0007] The present application provides a method for monitoring the subsidence of a 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 interference 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 interference technology is used to collect the surface subsidence value of the goaf, and the subsidence result of the goaf is comprehensively determined by combining the subsidence trend and the surface subsidence value. This can not only reduce the monitoring cost as much as possible, but also comprehensively determine the subsidence result of the goaf by combining the subsidence trend and the surface subsidence value 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] This application uses inclination sensors at multiple positions to monitor in real time and obtain multiple single-point inclination angles, and obtains the overall settlement trend of the goaf based on the fitting of multiple single-point inclination angles. Then, based on the settlement trend and surface settlement value, the settlement result of the goaf is comprehensively determined, that is, the settlement trend and 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 settlement 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 settlement value of the target area; the comprehensive determination of the settlement result of the goaf based on the settlement trend and the surface settlement value includes: determining the settlement result of the goaf based on the surface settlement value of the target area and the settlement trend of the goaf.

[0011] This 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 value 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 value of the target area to obtain the settlement result of the entire goaf. Not only can the open area be used to improve the accuracy of the collected surface settlement values, but the collection range of the synthetic aperture radar interferometry technology can also be reduced 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 further 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] This application performs initial calibration on the inclination sensor when it 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 based on 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 based on all the single-point change values.

[0015] After monitoring multiple single-point inclination angles obtained through multiple discretely arranged inclination sensors, this 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 of each inclination sensor. Based on the distance and angle difference between adjacent inclination sensors, the single-point change value corresponding to each inclination sensor is calculated. 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 that the settlement overview of the entire goaf can be obtained.

[0016] In one embodiment, 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 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 the 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, angle difference and single-point change value corresponding to the preceding sensor 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, to obtain the surface curve trend of the longitudinal section of the goaf, so as to obtain the settlement overview of the entire goaf.

[0018] In one embodiment, before the surface settlement value of the goaf is collected 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 settlement value of the goaf is collected using synthetic aperture radar interference technology, including: if the angle difference is greater than a preset difference threshold, the surface settlement value is collected 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 interference 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 settlement monitoring device for a goaf is provided, comprising: an angle acquisition module for acquiring a single-point inclination angle of the goaf using an inclination sensor; wherein the inclination sensor comprises multiple ones, and is arranged in the goaf along the mining direction of the goaf; a surface acquisition module for acquiring the surface settlement value of the goaf using synthetic aperture radar interferometry technology; and a result determination module for comprehensively determining the settlement result of the goaf based on the multiple single-point inclination angles and the surface settlement values.

[0021] The present application provides a settlement monitoring device for goaf, which uses an inclination sensor to collect a single-point inclination angle of the goaf through an angle collection module; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; the surface collection module uses synthetic aperture radar interference technology to collect the surface settlement value of the goaf; the result determination module comprehensively determines the settlement result of the goaf based on multiple single-point inclination angles and surface settlement values; that is, the settlement trend of the goaf is monitored in real time by using the inclination sensor pre-buried in the goaf, so that settlement monitoring of the goaf can be implemented to improve the timeliness of settlement monitoring of the goaf, and synthetic aperture radar interference technology is used to collect the surface settlement value of the goaf, and the settlement result of the goaf is comprehensively determined by combining the settlement trend and the surface settlement value. This can not only reduce the monitoring cost as much as possible, but also comprehensively determine the settlement result of the goaf by combining 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 for executing any of the above methods.

[0024] The present application provides a method, device, medium and electronic equipment for monitoring the settlement 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 interference technology is used to collect the surface settlement value of the goaf; based on the multiple single-point inclination angles and surface settlement values, the settlement result of the goaf is comprehensively determined; that is, the settlement trend of the goaf is monitored in real time by using the inclination sensor pre-buried in the goaf, so that settlement monitoring of the goaf can be implemented to improve the timeliness of the settlement monitoring of the goaf, and synthetic aperture radar interference technology is used to collect the surface settlement value of the goaf, and the settlement result of the goaf is comprehensively determined by combining the settlement trend and the surface settlement value. This can not only reduce the monitoring cost as much as possible, but also comprehensively determine the settlement result of the goaf by combining the settlement trend and the surface settlement 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 This is a structural block diagram of a goaf subsidence monitoring device provided in an embodiment of the present application.

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

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] In addition, 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 stated and should not be understood to exclude any other components.

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

[0032] Figure 1 This is a flow chart 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:

[0033] Step 110: Use an inclination sensor to collect the single-point inclination angle of the goaf.

[0034] Among them, the inclination sensors include multiple ones, and are 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 single points collected. This application selects an appropriate number of inclination sensors based on a 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.

[0035] Step 120: Using synthetic aperture radar interferometry technology to collect surface settlement values ​​of the goaf.

[0036] Synthetic Aperture Radar (InSAR) interferometry refers to interferometric measurement techniques used in synthetic aperture radar (InSAR). It is a recently developed space-based Earth observation technology that combines traditional SAR remote sensing with radio astronomy interferometry. It uses radar to transmit microwaves toward a target area and then receives the echoes reflected from the target, producing a pair of SAR complex images representing the same target area. If coherence exists between the complex image pairs, conjugate multiplication of the SAR complex images yields an interferogram. The phase value of the interferogram is used to determine the path difference between the microwaves in the two images, thereby calculating the topography, landforms, and subtle surface changes in the target area. Synthetic Aperture Radar (InSAR) interferometry offers high measurement accuracy and can quickly measure large areas. However, InSAR interferometry is costly and has a long measurement cycle (i.e., it cannot be used for monitoring). This application uses InSAR interferometry to collect surface subsidence values ​​in goaf areas to obtain a more accurate picture of the subsidence status of the goaf.

[0037] Step 130: Comprehensively determine the settlement result of the goaf based on multiple single-point inclination angles and surface settlement values.

[0038] After using synthetic aperture radar interferometry technology to collect the surface settlement values ​​of the goaf, the present application can combine the multiple single-point inclination angles obtained by real-time monitoring of the tilt sensor and the surface settlement values ​​collected intermittently using synthetic aperture radar interferometry technology to comprehensively calculate the settlement 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 tilt sensor.

[0039] The present application provides a method for monitoring the settlement 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 interference technology is used to collect the surface settlement value of the goaf; based on the multiple single-point inclination angles and the surface settlement values, the settlement result of the goaf is comprehensively determined; that is, the settlement trend of the goaf is monitored in real time by using the inclination sensor pre-buried in the goaf, so that settlement monitoring of the goaf can be implemented to improve the timeliness of the settlement monitoring of the goaf, and the synthetic aperture radar interference technology is used to collect the surface settlement value of the goaf, and the settlement result of the goaf is comprehensively determined by combining the settlement trend and the surface settlement value. This can not only reduce the monitoring cost as much as possible, but also comprehensively determine the settlement result of the goaf by combining the settlement trend and the surface settlement value to improve the monitoring accuracy.

[0040] In one embodiment, the specific implementation 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.

[0041] Since the inclination sensor is pre-installed under the surface of the goaf, the inclination sensor will also be tilted as the goaf settles. Therefore, the degree of settlement at the corresponding position can be known based on the inclination angle of the inclination sensor. Since the settlement of the goaf has certain rules or trends, 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 based on the multiple single-point inclination angles, the overall settlement trend of the goaf is obtained by fitting, such as the top curve trend of the settlement surface (which can be the ground surface), and then based on the settlement trend and the surface settlement value, the settlement result of the goaf is comprehensively determined. 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 degree of settlement at 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 of the goaf.

[0042] In one embodiment, the specific implementation method of the above-mentioned step 120 can be: 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 specific implementation method of the above-mentioned step 130 can be: determining the settlement result of the goaf based on the surface settlement value of the target area and the settlement trend of the goaf.

[0043] Since the presence of many interferences on the surface will cause deviations in the surface settlement values ​​collected, in order to reduce the impact of interferences on the surface settlement values ​​collected by synthetic aperture radar interferometry technology, the present application can pre-select an open area in the goaf (i.e., an area with no interferences or with few interferences, such as an open area, etc.) as the target area, and use synthetic aperture radar interferometry technology to collect the surface settlement values ​​of the target area to obtain a more accurate surface settlement value of the target area, and then combine the settlement trend of the entire goaf to comprehensively determine the settlement results of the entire goaf. Specifically, after obtaining the settlement trend of the entire goaf and the surface settlement value of the target area, the overall height of the settlement trend curve of the entire goaf is corrected according to the relative settlement of each point in the entire goaf and the surface settlement value (i.e., absolute settlement value) of the target area. That is, the position of the settlement trend curve of the entire goaf is determined on the settlement axis according to the absolute settlement value of the target area to obtain the settlement of all points in the entire goaf. That is, the surface settlement value of the target area is used to calibrate the settlement trend and absolute settlement value of the goaf to obtain the settlement result of the entire goaf. This not only can improve the accuracy of the collected surface settlement value by utilizing open areas, but also can reduce the collection range of synthetic aperture radar interference technology to reduce the amount of data, improve collection efficiency, and at the same time reduce costs as much as possible.

[0044] In one embodiment, before step 110, the above method may further include: performing initial calibration on the inclination sensor to obtain the initial angle of the inclination sensor; correspondingly, the specific implementation method of the above step 130 may be: fitting the settlement trend of the goaf based on multiple single-point inclination angles and the corresponding initial angles.

[0045] Since the settlement of the goaf also changes slowly, in order to monitor the change in 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 placement state of the tilt sensor is non-horizontal, that is, the tilt sensor has an initial angle at the beginning of its placement, 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 tilt angle, the present application can use the single-point tilt angle obtained by current monitoring to subtract the initial angle, and then obtain the angle change of the tilt sensor from the initial state to the current state, and then obtain the settlement angle and settlement amount of the corresponding position of the tilt sensor. After calculating the settlement amount or settlement angle at the corresponding position of each tilt 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 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 obtain other curves by fitting, such as cubic curves, etc. The present application does not limit the specific fitting method and fitting curve.

[0046] In one embodiment, the above-mentioned settlement trend can be obtained specifically 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 based on all the single-point change values.

[0047] 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 based on 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 through multiple discretely arranged inclination sensors, this 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. Based on the distance and angle difference between adjacent inclination sensors, the single-point change value corresponding to each inclination sensor is calculated (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). 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 that the settlement overview of the entire goaf can be obtained.

[0048] 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 and angle difference between adjacent inclination sensors and the single-point change value corresponding to the preceding sensor; wherein the preceding sensor is an adjacent sensor of the current sensor.

[0049] 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 the 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. The amount of settlement of the current inclination sensor relative to the preceding sensor is calculated based on this relative inclination angle and the distance between the adjacent inclination sensors. For example, the amount of settlement of the current inclination sensor relative to the preceding sensor is equal to the tangent 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 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 this application only estimates the relative settlement between the current inclination sensor and the previous 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 sensor.

[0050] In one embodiment, before step 120, the above method may further include: calculating the angle difference between the single-point tilt angle and the corresponding initial angle; correspondingly, the specific implementation method of the above 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.

[0051] Since the inclination sensor is pre-installed 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 of the monitoring point corresponding to the inclination sensor is large. At this time, synthetic aperture radar interference technology can be used to collect surface settlement values, and combined with the settlement trend of the goaf to calculate the settlement results of the goaf, 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 interference technology can be used to collect surface settlement values, so that the settlement results of the goaf can be obtained, and then the settlement changes (large changes) of the goaf can be monitored.

[0052] Figure 2 This is a structural block diagram of a subsidence monitoring device for a goaf provided in an embodiment of the present application. Figure 2 As shown, the settlement monitoring device 20 of the goaf includes: an angle acquisition module 21, which is used to use 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; a surface acquisition module 22, which is used to use synthetic aperture radar interference technology to collect the surface settlement value of the goaf; 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.

[0053] The present application provides a settlement monitoring device for goaf, which uses an inclination sensor to collect a single-point inclination angle of the goaf through an angle collection module 21; wherein the inclination sensor includes multiple ones and is arranged in the goaf along the mining direction of the goaf; the surface collection module 22 uses synthetic aperture radar interference technology to collect the surface settlement value of the goaf; the result determination module 23 comprehensively determines the settlement result of the goaf based on multiple single-point inclination angles and surface settlement values; that is, the settlement trend of the goaf is monitored in real time by using the inclination sensor pre-buried in the goaf, so that settlement monitoring of the goaf can be implemented to improve the timeliness of settlement monitoring of the goaf, and the surface settlement value of the goaf is collected by synthetic aperture radar interference technology, and the settlement result of the goaf is comprehensively determined by combining the settlement trend and the surface settlement value. This can not only reduce the monitoring cost as much as possible, but also comprehensively determine the settlement result of the goaf by combining the settlement trend and the surface settlement value to improve the monitoring accuracy.

[0054] 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.

[0055] In one embodiment, the above-mentioned surface acquisition module 22 can be further configured to: select an open area in the goaf as the target area; use synthetic aperture radar interference technology to collect the surface settlement value of the target area; correspondingly, the above-mentioned result determination module 23 can be further configured to: determine the settlement result of the goaf based on the surface settlement value of the target area and the settlement trend of the goaf.

[0056] In one embodiment, the above-mentioned goaf settlement 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 settlement trend of the goaf according to multiple single-point inclination angles and the corresponding initial angles.

[0057] In one embodiment, the above-mentioned settlement trend can be obtained specifically 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 based on all the single-point change values.

[0058] 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 and angle difference between adjacent inclination sensors and the single-point change value corresponding to the preceding sensor; wherein the preceding sensor is an adjacent sensor of the current sensor.

[0059] 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 the preset difference threshold, then use synthetic aperture radar interference technology to collect surface subsidence values.

[0060] Below, reference Figure 3 The electronic device according to the embodiment of the present application is described. The electronic device may be either or both of the first device and the second device, or a standalone device independent of them, and the standalone device may communicate with the first device and the second device to receive collected input signals from them.

[0061] like Figure 3 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0062] 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.

[0063] 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, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute 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, and noise components may also be stored in the computer-readable storage medium.

[0064] 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).

[0065] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, configured to receive collected input signals from the first device and the second device.

[0066] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0067] The output device 14 can output various information to the outside, including 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.

[0068] 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, the electronic device 10 may further include any other appropriate components according to specific application scenarios.

[0069] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0070] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a 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 thereof.

[0071] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for monitoring subsidence in a goaf, characterized in that: include: Performing initial calibration on a plurality of inclination sensors to obtain an initial angle of each of the inclination sensors; Using a plurality of the tilt sensors to collect the single-point tilt angle of the goaf; wherein the plurality of tilt sensors are buried in the goaf along the mining direction of the goaf; Calculating the angle difference between each single-point tilt angle and the corresponding initial angle; When the angle difference is greater than a preset difference threshold, a synthetic aperture radar interferometry technique is used to collect surface subsidence values ​​of a target area, where the target area is an open area of ​​the goaf; Calculating a single-point change value corresponding to each of the tilt sensors based on the spacing between adjacent tilt sensors, the angle difference, and the single-point change value corresponding to a preceding sensor; wherein the single-point change value is a depth change value between two ends of the tilt sensor, and the preceding sensor is an adjacent sensor of the current sensor; According to all the single-point change values, the settlement trend of the goaf is obtained by fitting; The settlement trend of the goaf is calibrated according to the surface settlement value of the target area to obtain the settlement result of the goaf.

2. A settlement monitoring device for goaf, characterized in that: include: Angle acquisition module, used for: Performing initial calibration on a plurality of inclination sensors to obtain an initial angle of each of the inclination sensors; Using a plurality of the tilt sensors to collect the single-point tilt angle of the goaf; wherein the plurality of tilt sensors are buried in the goaf along the mining direction of the goaf; Surface acquisition module, used for: Calculating the angle difference between each single-point tilt angle and the corresponding initial angle; When the angle difference is greater than a preset difference threshold, a synthetic aperture radar interferometry technique is used to collect surface subsidence values ​​of a target area, where the target area is an open area of ​​the goaf; Result determination module, used to: Calculating a single-point change value corresponding to each of the tilt sensors based on the spacing between adjacent tilt sensors, the angle difference, and the single-point change value corresponding to a preceding sensor; wherein the single-point change value is a depth change value between two ends of the tilt sensor, and the preceding sensor is an adjacent sensor of the current sensor; According to all the single-point change values, the settlement trend of the goaf is obtained by fitting; The settlement trend of the goaf is calibrated according to the surface settlement value of the target area to obtain the settlement result of the goaf.

3. A computer-readable storage medium, characterized in that The storage medium stores a computer program for executing the method according to claim 1 .

4. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the method according to claim 1 .

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