Side slope deformation monitoring system and method based on millimeter wave radar

Abstract

The invention belongs to the technical field of slope deformation monitoring, and aims to provide a slope deformation monitoring system and method based on millimeter wave radar. The slope deformation monitoring system comprises a corner reflector, a first radar and a second radar, the corner reflector is arranged at a specified monitoring point of a target slope, and the first radar and the second radar are arranged in cooperation with the corner reflector. The first radar and the second radar are respectively used for collecting angle inverse distance information between the first radar and the corner reflector and between the second radar and the corner reflector so as to obtain space deformation information of the corner reflector. The slope deformation monitoring method is realized based on the slope deformation monitoring system. The method can reduce the hardware cost of applying the millimeter wave radar to slope deformation monitoring, and is suitable for a large-scale slope deformation monitoring scene.

Description

Technical Field

[0001] The present invention belongs to the technical field of slope deformation monitoring, and particularly relates to a slope deformation monitoring system and method based on millimeter-wave radar. Background Art

[0002] Slope deformation monitoring has always been a research hotspot in the field of slope detection. Since manual monitoring in the last century to intelligent / automatic monitoring in this century, various slope deformation monitoring technologies have emerged in an endless stream, and the performances of these monitoring technologies in terms of performance and economic cost are also different. Millimeter-wave radar is a technology developed relying on vehicle-mounted radar and intelligent highways, and its cost is relatively low. Especially with the advent of high-precision ranging millimeter-wave radar, the application scenarios of millimeter-wave radar have been greatly broadened.

[0003] In the prior art, Zhu Jin, Wang Jianfeng, Chen Ken, etc. demonstrated the deformation monitoring ability of real-aperture millimeter-wave radar in the literature "Analysis of the Slope Deformation Monitoring Ability of Real-Aperture Millimeter-Wave Radar" (Yangtze River, 2023, 54(12): 147-155), and proposed that radial deformation information can be obtained by deploying 1 real-aperture millimeter-wave radar, and spatial deformation information can be obtained by deploying 3 real-aperture millimeter-wave radars.

[0004] However, in the process of using the above prior art, the inventor found that there are at least the following problems in the prior art: In the prior art, if spatial deformation information of a slope is to be obtained, at least 3 millimeter-wave radars need to be deployed to solve the spatial deformation amount, spatial deformation direction and other spatial deformation information of the slope through the monitoring data of the 3 millimeter-wave radars. And the area of the slope deformation monitoring area is usually relatively large, and multiple sets of slope deformation monitoring systems including millimeter-wave radars and corner reflectors often need to be deployed, resulting in a relatively high hardware cost for applying millimeter-wave radar to slope deformation monitoring. Summary of the Invention

[0005] The present invention aims to solve the above technical problems to at least some extent, and provides a slope deformation monitoring system, device, electronic device and product based on millimeter-wave radar.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a slope deformation monitoring system, including a corner reflector, a first radar and a second radar. The corner reflector is arranged at a specified monitoring point of the target slope, and the first radar and the second radar are arranged in cooperation with the corner reflector. The first radar and the second radar are respectively used to collect the corner reflection distance information between them and the corner reflector, so as to obtain the spatial deformation information of the corner reflector.

[0007] In a possible design, the angle of the initial included angle between the first radar and the second radar at the corner reflector is greater than 60°.

[0008] In a possible design, the plane where the corner reflector, the first radar, and the second radar are located is arranged parallel to the plane where the designated slope in the target slope is located.

[0009] In a second aspect, the present invention provides a slope deformation monitoring method, which is implemented based on the slope deformation monitoring system described in any one of the above. The method includes: After deploying the slope deformation monitoring system on the target slope, obtain the position information of the corner reflector, the position information of the first radar, and the position information of the second radar in the slope deformation monitoring system; According to the position information of the corner reflector, the position information of the first radar, and the position information of the second radar, obtain the first initial corner reflection distance between the first radar and the corner reflector, the second initial corner reflection distance between the second radar and the corner reflector, and the angle of the initial included angle between the first radar and the second radar at the corner reflector; Obtain the first corner reflection distance collected by the first radar and the second corner reflection distance collected by the second radar at any moment, and obtain the plane deformation information of the corner reflector according to the first corner reflection distance, the second corner reflection distance, the first initial corner reflection distance, the second initial corner reflection distance, and the angle of the initial included angle between the first radar and the second radar at the corner reflector; According to the plane deformation information, obtain the deformation direction information of the corner reflector; Obtain the radial deformation amount of any one of the first radar and the second radar at any moment, and obtain the spatial deformation information of the corner reflector according to the radial deformation amount of any one of the radars at any moment and the deformation direction information.

[0010] In a possible design, the plane deformation information of the corner reflector is obtained by the following formula: ; wherein, ( x , y ) is the plane deformation information of the corner reflector, L 1 is the first initial corner reflection distance, L 2 is the second initial corner reflection distance, L t1 is the first corner reflection distance, L t2 is the second corner reflection distance, θis the angle of the initial included angle between the first radar and the second radar at the corner reflector.

[0011] In a possible design, the deformation direction information of the corner reflector is: ; where x is the abscissa in the plane deformation information, x is the ordinate in the plane deformation information.

[0012] In a possible design, the radial deformation amounts of the first radar and the second radar at any moment are respectively obtained, and the radar with the larger radial deformation amount among the first radar and the second radar is used as the any radar; correspondingly, the spatial deformation information of the corner reflector is: ; where is the radial deformation amount of the any radar at any moment, α is the deformation direction information.

[0013] In a third aspect, the present invention provides a slope deformation monitoring device for implementing a slope deformation monitoring method as described in any one of the above; the slope deformation monitoring device includes: An initial data acquisition module, configured to, after the slope deformation monitoring system is arranged on a target slope, acquire the position information of the corner reflector, the position information of the first radar, and the position information of the second radar in the slope deformation monitoring system; and is further configured to obtain a first initial corner reflector distance between the first radar and the corner reflector, a second initial corner reflector distance between the second radar and the corner reflector, and the angle of the initial included angle between the first radar and the second radar at the corner reflector according to the position information of the corner reflector, the position information of the first radar, and the position information of the second radar; A monitoring data processing module, configured to acquire a first corner reflector distance collected by the first radar and a second corner reflector distance collected by the second radar at any moment, and obtain the plane deformation information of the corner reflector according to the first corner reflector distance, the second corner reflector distance, the first initial corner reflector distance, the second initial corner reflector distance, and the angle of the initial included angle between the first radar and the second radar at the corner reflector; is configured to obtain the deformation direction information of the corner reflector according to the plane deformation information; is further configured to acquire the radial deformation amount of any one of the first radar and the second radar at any moment, and obtain the spatial deformation information of the corner reflector according to the radial deformation amount of the any radar at any moment and the deformation direction information.

[0014] Fourthly, the present invention provides an electronic device, including: a memory for storing computer program instructions; and, a processor for executing the computer program instructions to complete the operations of a slope deformation monitoring method as described in any one of the above.

[0015] Fifthly, the present invention provides a computer program product, including a computer program or instructions, where the computer program or the instructions, when executed by a computer, implement a slope deformation monitoring method as described in any one of the above.

[0016] The beneficial effects of the present invention are as follows: The present invention can reduce the hardware cost of applying millimeter-wave radar to slope deformation monitoring and is applicable to large-scale slope deformation monitoring scenarios. Specifically, the present invention proposes a slope monitoring system based on millimeter-wave radar, reduces the number of radar deployments, and can simultaneously obtain the radial deformation amount and spatial deformation information of the target slope by setting corner reflectors and two radars. Thus, long-term monitoring of the target slope is achieved, which is conducive to reducing the hardware cost during large-scale slope deformation monitoring, can achieve the monitoring target of low-cost and large-area monitoring of landslide hidden danger points, and has the value of popularization and application.

[0017] Other beneficial effects of the present invention will be further described in the specific embodiments. Description of the Drawings

[0018] Figure 1 is a schematic diagram of the first plane rectangular coordinate system constructed in Embodiment 1; Figure 2 is a relationship diagram of the error offset effect coefficient values varying with the angle in three cases exemplified in Embodiment 1; Figure 3 is a flowchart of the slope deformation monitoring method in Embodiment 2; Figure 4 is an analysis diagram of the monitoring situation of a single radar exemplified in Embodiment 2; Figure 5 is a schematic diagram of the sensitivity curves in three cases exemplified in Embodiment 2; Figure 6 is a block diagram of the slope deformation monitoring device in Embodiment 3. Specific Embodiments

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the present invention in combination with the accompanying drawings and the description of the embodiments or the prior art. Obviously, the following description of the structures of the accompanying drawings is only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0020] Embodiment 1: This embodiment discloses a slope deformation monitoring system, including a corner reflector, a first radar, and a second radar. The corner reflector is arranged at a specified monitoring point of the target slope, and the first radar and the second radar are arranged in cooperation with the corner reflector. The first radar and the second radar are respectively used to collect the corner reflection distance information between them and the corner reflector, so as to obtain the spatial deformation information of the corner reflector, which is also the spatial deformation information of the target slope. Specifically, in this embodiment, the first radar is used to collect the first corner reflection distance information between it and the corner reflector, and the second radar is used to collect the second corner reflection distance information between it and the corner reflector, so as to obtain the spatial deformation information of the corner reflector at any moment based on the first corner reflection distance information and the second corner reflection distance information.

[0021] It should be noted that since a single radar can obtain the radial deformation information of the slope, based on this, in the implementation process of this embodiment, the target slope can be monitored for landslides first based on the first radar or the second radar, that is, it is judged whether the target slope has a landslide trend according to the radial deformation amounts at multiple moments monitored by a single radar. If so, further monitoring is carried out simultaneously by two radars to obtain the spatial deformation information of the corner reflector. Based on this, this embodiment can achieve the purpose of pre-observation by a single radar and long-term monitoring by two radars, and further reduce the cost of slope deformation monitoring.

[0022] This embodiment can reduce the hardware cost of applying millimeter-wave radar to slope deformation monitoring and is applicable to large-scale slope deformation monitoring scenarios. Specifically, this embodiment proposes a slope monitoring system based on millimeter-wave radar, reduces the number of radars arranged, and can simultaneously obtain the radial deformation amount and spatial deformation information of the target slope by setting a corner reflector and two radars. Thus, long-term monitoring of the target slope is realized, which is beneficial to reducing the hardware cost during large-scale slope deformation monitoring, can achieve the monitoring goal of low-cost and large-area monitoring of landslide hazard points, and has the value of popularization and application.

[0023] In this embodiment, the initial included angle between the first radar and the second radar at the corner reflector is greater than 60°. As an example, if point A is the location of the first radar, point B is the location of the second radar, and point C is the location of the corner reflector, then ∠ACB is the initial included angle between the first radar and the second radar at the corner reflector, that is, the included angle formed by two rays CA and CB.

[0024] It should be noted that according to the research conclusion of the inventor, when the initial included angle between the first radar and the second radar at the corner reflector is greater than 60°, the error offset effect coefficient for solving the spatial deformation information of the corner reflector is less than 2. Based on this, this embodiment uses this angle as the basis for arranging the millimeter-wave radar.

[0025] Specifically, in the actual application process of the millimeter-wave radar, there are usually errors in the radial deformation amount of the millimeter-wave radar obtained. During the process of obtaining the spatial deformation information of the corner reflector based on the monitoring data, the errors in the radial deformation amounts of each radar will cause the solution results to deviate. There is currently no systematic explanation for this kind of deviation effect, and there is no solution to this deviation effect in the slope monitoring system based on the millimeter-wave radar. Therefore, the inventor makes the following explanation for the deviation effect: Due to the complexity of the sphere in space, to simplify the problem and at the same time reflect the actual situation, in this article, the positional relationship among the first radar, the second radar, and the corner reflector is simplified to a plane circle for discussion. Taking the position A of the first radar as the origin and the line segment AB connecting the first radar to the second radar as the X-axis, a first plane rectangular coordinate system based on CAB is established, and it is assumed that the corner reflector is located in the first quadrant of the first plane rectangular coordinate system. Assume the corner reflection distance L 1 from the first radar to the corner reflector and the corner reflection distance L 2 from the second radar to the corner reflector are equal, both being L (unit: mm, the same below), that is, the length of line segment AC is equal to the length of line segment BC. It is also assumed that the angle θ of the initial included angle ∠ACB between the first radar and the second radar at the corner reflector is Figure 1 .

[0026] Construct a circle A with the position A of the first radar as the center and the corner reflection distance from the first radar to the corner reflector as the radius, and then construct a circle B with the position B of the second radar as the center and the corner reflection distance from the second radar to the corner reflector as the radius. From Figure 1It can be seen that there will be two intersection points between circle A and circle B. Since these two intersection points are symmetric and have the same offset effect, for this reason, this article will only consider the intersection points in the first quadrant and will not consider the intersection points in the fourth quadrant. From Figure 1 the geometric relationship, it can be known that the coordinates of point C where the corner reflector is located should be ( ). When the first radar and the second radar measure the distance to the target object (i.e., the corner reflector), errors will occur. Considering the positive and negative situations of the errors and discussing according to the most unfavorable effect, it can be divided into the following three types of situations: Situation 1: Both circles decrease d When ( d is the radial error of the millimeter-wave radar, unit: mm), the offset distance R 1 between the obtained position information of the corner reflector and the actual intersection point is: ; Situation 2: Both circles increase d When, the offset distance R 2 between the obtained position information of the corner reflector and the actual intersection point is: ; Situation 3: One circle increases d , and the other decreases d . In this article, it is assumed that the circle that decreases d corresponds to the second radar, and point C with error offset becomes C'. Then let . In ΔAC'B, according to the cosine theorem: ; ; Then the coordinates of C' are ( ), and the distance between the two points can be calculated to obtain the length of line segment CC', that is, the offset distance R 3: ; In this embodiment, the error offset effect coefficient is defined as: ; In the formula, R is the offset distance.

[0027] It should be noted that the current theoretical error of the millimeter-wave radar is 2 - 3 mm. Therefore, considering the most unfavorable effect, this article will use an error of 3 mm as the research boundary value. At the same time, observing the calculation formula of the offset distance R 3, it can be known that in addition to being affected by the angle θ , the offset effect is also affected by the corner reflector distance L and the radial error dTo understand the influence of these factors systematically, consider the following three cases: a) L = 100 m, d = 3 mm; b) L = 500 m, d = 3 mm; c) L = 500 m, d = 10 mm. The relationship diagrams of the error offset effect coefficient values with the angle θ varying in the above three cases are shown in Figure 2 a), b) and c) of Figure 2 which show that Case 1 and Case 2 are basically stable and tend to 1, indicating that the offset effect is not obvious. In Case 3, when the angle θ is less than 30°, the error offset effect coefficient is greater than 3.86. After 30°, the error offset effect coefficient begins to tend to be stable. When the angle θ is greater than 60°, the error offset effect coefficient is less than 2. At the same time, combining Figure 2 a), b) and c) of L it can be known that the changes in the monitoring distance (corner reflector distance d ) and the monitoring error (radial error amount

[0028] Overall, based on the above discussion of the offset effect, it can be seen that the error offset effect coefficient of the millimeter-wave radar is extremely sensitive to the installation angles of the two radars. Especially when the installation angles of the two radars are less than 30°, it is extremely significant. When it is greater than 60°, the error offset effect coefficient is less than 2. Therefore, this angle can be used as the basis for the installation of the millimeter-wave radar. Based on this, in this embodiment, the initial included angle between the first radar and the second radar at the corner reflector is set to be greater than 60°.

[0029] It should also be noted that in the prior art, when using 3 millimeter-wave radars for slope deformation monitoring, it is usually difficult to determine the error offset effect when solving the spatial deformation information of the corner reflector based on the monitoring data of the 3 millimeter-wave radars, and it is difficult to evaluate the error of the finally obtained spatial deformation information. In this embodiment, usually 2 radars are used, which can facilitate the confirmation of the accuracy of the spatial deformation information and adjust the installation situation of the 2 radars based on this.

[0030] In this embodiment, the plane where the corner reflector, the first radar, and the second radar are located is parallel to the plane where the specified slope in the target slope is located. It should be noted that during the implementation of this embodiment, setting the plane where the corner reflector, the first radar, and the second radar are located parallel to the plane where the specified slope in the target slope is located is conducive to improving the accuracy of subsequent spatial deformation information calculation. At this time, the corner reflector and the two radar devices are placed on the same side of the target slope, which can help reduce signal attenuation or occlusion caused by complex terrain, ensure that the radar signal can accurately reach the corner reflector and return, so as to obtain more accurate monitoring data.

[0031] Embodiment 2: This embodiment discloses a slope deformation monitoring method, which can be, but is not limited to, executed by a computer device or virtual machine with certain computing resources, such as executed by an electronic device such as a personal computer, a smart phone, a personal digital assistant, or a wearable device, or executed by a virtual machine.

[0032] As Figure 3 shown, a slope deformation monitoring method can, but is not limited to, include the following steps: S1. After deploying the slope deformation monitoring system on the target slope, obtain the position information of the corner reflector, the position information of the first radar, and the position information of the second radar in the slope deformation monitoring system; specifically, in this embodiment, the RTK (Real-Time Kinematic) technology is used to obtain the position information of the corner reflector, the position information of the first radar, and the position information of the second radar. Among them, the RTK technology is a high-precision satellite positioning technology based on carrier phase differential, which can achieve centimeter-level positioning accuracy by using a reference station and one or more rovers.

[0033] It should be noted that when using a single millimeter-wave radar for slope deformation monitoring, although only the radial deformation amount can be obtained, its value has a cosine function relationship with the ratio of spatial deformation. Their magnitudes may be different, but the trends are the same. Based on this, in step S1 of this embodiment, after the slope deformation monitoring system is deployed on the target slope, either the first radar or the second radar can be used to perform preliminary observations on the target slope in advance, and the radial deformation amounts of any one of the radars at multiple moments within a specified time period can be obtained in advance. Then, based on the radial deformation amounts at multiple moments, it is determined whether the target slope has a landslide trend (that is, it is determined whether the target slope is in a stage of uniform deformation). If the radial deformation amounts at multiple moments are all positive and approximately equal, it is determined that the target slope has a landslide trend. After it is determined that the target slope has a landslide trend based on a single radar, the first radar and the second radar are simultaneously put into use to obtain the spatial deformation information of the target slope, that is, the spatial deformation information of the corner reflector. This can help reduce the cost of preliminary observations in slope monitoring.

[0034] In addition, in this embodiment, monitoring devices such as rain gauges, deep displacement gauges, and crack gauges can be further used to cooperate with the slope deformation monitoring system in this embodiment to carry out long-term monitoring of the slope, so as to serve for slope early warning and the design of prevention and control measures. Based on the slope deformation monitoring system proposed in this embodiment, it is beneficial to realize low-cost and large-scale slope monitoring applications.

[0035] S2. According to the position information of the corner reflector, the position information of the first radar, and the position information of the second radar, obtain the first initial corner reflector distance between the first radar and the corner reflector, the second initial corner reflector distance between the second radar and the corner reflector, and the angle of the initial included angle between the first radar and the second radar at the corner reflector.

[0036] As an example, if point A is the location of the first radar, point B is the location of the second radar, and point C is the initial position of the corner reflector, then the length of line segment AC is the first initial corner reflector distance between the first radar and the corner reflector, the length of line segment BC is the second initial corner reflector distance between the second radar and the corner reflector, and the angle of ∠ACB is the angle of the initial included angle between the first radar and the second radar at the corner reflector; for the convenience of calculation, the first initial corner reflector distance can be represented as L 1, the second initial corner reflector distance can be represented as L 2, and the angle of the initial included angle ∠ACB between the first radar and the second radar at the corner reflector can be represented as θ .

[0037] S3. At any moment, obtain the first angular backscatter distance collected by the first radar and the second angular backscatter distance collected by the second radar, and based on the first angular backscatter distance, the second angular backscatter distance, the first initial angular backscatter distance, the second initial angular backscatter distance, and the angle of the initial included angle between the first radar and the second radar at the corner reflector, obtain the planar deformation information of the corner reflector.

[0038] Specifically, in step S3 of this embodiment, taking the initial position C point of the corner reflector as the origin, and the connection line CA between the corner reflector and the first radar as the X-axis, establish a second plane rectangular coordinate system based on ACB. At this time, the position information of the corner reflector, the first radar, and the second radar at the initial moment can be respectively expressed as: C (0,0), A ( L 1,0), ; Represent the first angular backscatter distance and the second angular backscatter distance at any moment t as L t1 and L t2 respectively. Then, the planar deformation information of the corner reflector is obtained through the following formula: ; where, ( x , y ) is the planar deformation information of the corner reflector, L 1 is the first initial angular backscatter distance, L 2 is the second initial angular backscatter distance, L t1 is the first angular backscatter distance, L t2 is the second angular backscatter distance, θ is the angle of the initial included angle between the first radar and the second radar at the corner reflector.

[0039] S4. According to the planar deformation information, obtain the deformation direction information of the corner reflector; specifically, in this embodiment, the deformation direction information of the corner reflector α can be obtained from the planar deformation information.

[0040] In step S4, the deformation direction information of the corner reflector is: ; In the formula, x is the abscissa in the planar deformation information, x is the ordinate in the planar deformation information.

[0041] S5. Obtain the radial deformation amount of any one of the first radar and the second radar at any moment, and obtain the spatial deformation information of the corner reflector according to the radial deformation amount of any one of the radars at any moment and the deformation direction information.

[0042] Specifically, in step S5 of this embodiment, the radial deformation amounts of the first radar and the second radar at any moment are respectively obtained, and the radar with the larger radial deformation amount among the first radar and the second radar is used as any one of the radars; correspondingly, the spatial deformation information of the corner reflector is: ; In the formula, is the radial deformation amount of any one of the radars at any moment, α is the deformation direction information. As an example, if any one of the radars is the first radar, the radial deformation amount of any one of the radars at any moment is: .

[0043] It should be understood that the spatial deformation information of the corner reflector obtained in this embodiment is not the real three-dimensional spatial information, but the spatial plane information, which can reflect the spatial deformation of the slope.

[0044] It should be noted that according to the verification conclusion of the inventor during actual application, the accuracy of interpreting the spatial deformation information of the radar with the larger radial deformation amount among the first radar and the second radar is better. Based on this, in this embodiment, preferably, the radar with the larger radial deformation amount among the first radar and the second radar is used as any one of the radars.

[0045] Specifically, in this embodiment, the steps for obtaining the calculation formula of the spatial deformation information of the corner reflector are as follows: Any one of the first radar and the second radar can only monitor the radial deformation amount of the corner reflector. When assuming that any one of the radars is the first radar, if the corner reflector is located at point C at the initial moment and at point C' at any moment, for the first radar, the first initial corner reflector distance L 1 between it and the corner reflector and the first corner reflector distance L t1 collected by it at any moment can be obtained in advance. Assume that the angle between the direction of monitoring the corner reflector at the initial moment and the spatial deformation information l of the corner reflector at any moment is α (it can be known from the above that the angle of this included angle α and the spatial deformation information lIt can be calculated based on the monitoring data of the two radars proposed in this embodiment. In the scenario of a single radar, this angle α and the spatial deformation information l are unknown quantities. The analysis diagram of the monitoring situation of a single radar is as Figure 4 shown. The angle of ∠ACC' in the figure is α .

[0046] According to the cosine theorem: ; Transforming the above formula gives: ; Since the angle α ∈ [0°, 180°], assuming that the acute angle formed by the direction of the spatial deformation information of the corner reflector and the initial monitoring direction of the first radar is α '. When α ≤90°, α ' = α ; when 90° < α ≤180°, α ' ≤ 180° - α . When α ' < 90°, there is always: 1 ≥ , then 2 L 1 ≥ .

[0047] Since the first initial corner reflector distance is usually greater than 200m in the actual monitoring system layout. When α ' < 90°, and , there is always . Omitting an infinitesimal quantity from the above formula , we get: ; When the value of the spatial deformation information l is too large, it can be adjusted by on-site layout and and α , such as increasing the length of the first initial corner reflector distance to make it satisfy the infinitesimal relationship.

[0048] According to the monitoring principle of the millimeter-wave radar, is the radial deformation amount monitored by the first radar, that is: ; At any moment, , , All are fixed values, and since and the difference is and is usually much smaller than the monitoring distance, then that is: ; Define the ratio of the radial deformation to the spatial deformation information l as the sensitivity S that is: ; According to the cosine theorem, when the spatial deformation information l reaches 1000 mm in length at different ranging distances, the actual radial deformation value monitored by the first radar can be calculated, and then the sensitivity values at different angles and ranging distances can be calculated. Figure 5 The sensitivity curve in l shows that when the length of the spatial deformation information α reaches 1000 mm, the relationship between the sensitivity of the first radar and the angle at detection distances L of 100 m, 300 m, and 500 m. It can be seen from the figure that

[0049] Based on the above sensitivity formula, the calculation formula for the spatial deformation information of the corner reflector can be obtained.

[0050] It should be noted that this embodiment can reduce the hardware cost of applying millimeter-wave radar to slope deformation monitoring and is applicable to large-scale slope deformation monitoring scenarios. Specifically, this embodiment proposes a slope deformation monitoring method for a slope monitoring system based on millimeter-wave radar. During the implementation process, the first initial angular reflection distance between the first radar and the corner reflector, the second initial angular reflection distance between the second radar and the corner reflector, and the angle of the initial included angle between the first radar and the second radar at the corner reflector can be obtained through the initial position information of the corner reflector, the first radar, and the second radar in the slope monitoring system. Furthermore, the spatial deformation information of the corner reflector can be obtained by using the first angular reflection distance collected by the first radar and the second angular reflection distance collected by the second radar at any moment. During this process, by setting a corner reflector and two radars, the radial deformation amount and spatial deformation information of the target slope can be obtained simultaneously, thereby realizing long-term monitoring of the target slope, facilitating the reduction of hardware costs during large-scale slope deformation monitoring, achieving the monitoring goal of low-cost and large-area monitoring of landslide hidden danger points, and having the value of popularization and application.

[0051] Embodiment 3: This embodiment discloses a slope deformation monitoring device for implementing the slope deformation monitoring method in Embodiment 2; as Figure 6 shown, the slope deformation monitoring device includes: An initial data acquisition module, configured to, after deploying the slope deformation monitoring system on a target slope, acquire the position information of the corner reflector, the position information of the first radar, and the position information of the second radar in the slope deformation monitoring system; and further configured to obtain the first initial angular reflection distance between the first radar and the corner reflector, the second initial angular reflection distance between the second radar and the corner reflector, and the angle of the initial included angle between the first radar and the second radar at the corner reflector according to the position information of the corner reflector, the position information of the first radar, and the position information of the second radar; A monitoring data processing module, configured to acquire the first angular reflection distance collected by the first radar and the second angular reflection distance collected by the second radar at any moment, and obtain the planar deformation information of the corner reflector according to the first angular reflection distance, the second angular reflection distance, the first initial angular reflection distance, the second initial angular reflection distance, and the angle of the initial included angle between the first radar and the second radar at the corner reflector; configured to obtain the deformation direction information of the corner reflector according to the planar deformation information; and further configured to acquire the radial deformation amount of any one of the first radar and the second radar at the any moment, and obtain the spatial deformation information of the corner reflector according to the radial deformation amount of any one of the radars at the any moment and the deformation direction information.

[0052] It should be noted that for the working process, working details and technical effects of the slope deformation monitoring device provided in Embodiment 3, reference can be made to Embodiment 2, and details will not be repeated here.

[0053] Embodiment 4: Based on Embodiment 2 or 3, this embodiment discloses an electronic device, which may be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc. The electronic device may be referred to as a user terminal, a portable terminal, a desktop terminal, etc., and the electronic device includes: A memory for storing computer program instructions; and, A processor for executing the computer program instructions to complete the operations of a slope deformation monitoring method as described in any one of Embodiment 2.

[0054] Embodiment 5: Based on any one of Embodiments 2 to 4, this embodiment discloses a computer program product, including a computer program or instructions, and the computer program or the instructions, when executed by a computer, implement a slope deformation monitoring method as described in any one of Embodiment 2. Among them, the computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices.

[0055] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program codes executable by the computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module to implement. Thus, the present invention is not limited to any specific combination of hardware and software.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A slope deformation monitoring system, characterized in that: It includes a corner reflector, a first radar and a second radar. The corner reflector is arranged at a designated monitoring point of a target slope. The first radar and the second radar are arranged in conjunction with the corner reflector. The first radar and the second radar are respectively used to collect angular inverse distance information between them and the corner reflector, so as to obtain spatial deformation information of the corner reflector.

2. A slope deformation monitoring system according to claim 1, characterized in that: An initial angle between the first radar and the second radar at the corner reflector is greater than 60°.

3. A slope deformation monitoring system according to claim 1, characterized in that: The planes where the corner reflector, the first radar and the second radar are located are arranged parallel to the plane where the designated slope in the target slope is located.

4. A slope deformation monitoring method, characterized in that: Based on the slope deformation monitoring system according to any one of claims 1 to 3, the method comprises: After the slope deformation monitoring system is deployed on the target slope, position information of the corner reflector, position information of the first radar, and position information of the second radar in the slope deformation monitoring system are obtained; According to the position information of the corner reflector, the position information of the first radar and the position information of the second radar, a first initial angular inverse distance between the first radar and the corner reflector, a second initial angular inverse distance between the second radar and the corner reflector, and an initial angle between the first radar and the second radar at the corner reflector are obtained; Acquire the first inverse angle distance collected by the first radar and the second inverse angle distance collected by the second radar at any time, and acquire the plane deformation information of the corner reflector according to the first inverse angle distance, the second inverse angle distance, the first initial inverse angle distance, the second initial inverse angle distance, and the initial angle between the first radar and the second radar at the corner reflector; Obtaining deformation direction information of the corner reflector according to the plane deformation information; The radial deformation of any one of the first radar and the second radar at any time is obtained, and the spatial deformation information of the corner reflector is obtained according to the radial deformation of any one of the radars at any time and the deformation direction information.

5. A slope deformation monitoring method according to claim 4, characterized in that: The plane deformation information of the corner reflector is obtained by the following formula: ； in,( x , y ) is the plane deformation information of the corner reflector, L 1 is the first initial angular inverse distance, L 2 is the second initial angular inverse distance, L t1 is the inverse distance of the first angle, L t2 is the inverse distance of the second angle, θ is the initial angle between the first radar and the second radar at the corner reflector.

6. A slope deformation monitoring method according to claim 4, characterized in that: The deformation direction information of the corner reflector is: ； In the formula, x is the horizontal coordinate in the plane deformation information, x is the vertical coordinate in the plane deformation information.

7. A slope deformation monitoring method according to claim 4, characterized in that: The radial deformation of the first radar and the second radar at any time is respectively obtained, and the radar with a larger radial deformation of the first radar and the second radar is used as the any radar; correspondingly, the spatial deformation information of the corner reflector is: ； In the formula, is the radial deformation of any radar at any time, α is the deformation direction information.

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