Ecological restoration method and system for high and steep slope of limestone mine

Abstract

The invention discloses an ecological restoration method and system for a high and steep slope of a limestone mine, and belongs to the technical field of ecological restoration. According to the method, the high-precision slope three-dimensional model is constructed by means of the high-density point cloud data and the inclined image data, the landforms are accurately recognized through the section curvature, adaptive ecological restoration technologies are adopted for different landforms, comprehensive treatment is carried out by considering the hidden space, ecological restoration of the high and steep slope of the limestone mine can be more efficiently and scientifically achieved, and the method is suitable for large-scale popularization and application. According to the method, the restoration effect is improved, the pertinence and systematicness of the restoration scheme are enhanced, the ecological restoration cost is reduced, and restoration and reconstruction of an ecological system can be effectively promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of ecological restoration, and more specifically, to a method and system for ecological restoration of high-steep slopes in limestone mines. Background Art

[0002] During the exploitation of limestone mines, a large amount of mountain bodies are excavated, forming numerous high-steep slopes. These slopes generally have problems such as large slopes and poor stability. On the one hand, the special geological structure of limestone makes the slope rocks broken and joint fissures developed. Under the action of natural factors such as weathering, rainfall, and earthquake, geological disasters such as collapses and landslides are extremely likely to occur, seriously threatening the lives and property safety of residents around the mines and hindering the sustainable development of the mines. On the other hand, the ecological environment of high-steep slopes in limestone mines is extremely fragile. Its surface soil is shallow, with poor water and fertilizer retention capacity, and it is difficult for vegetation to grow. Coupled with the damage to the original vegetation caused by mining activities, the vegetation coverage rate of the slopes is extremely low, and the ecological system is severely damaged. This not only leads to increased soil erosion and a significant increase in the soil erosion modulus, but also affects the biodiversity of the surrounding areas. Many animals and plants have lost their suitable living environments, and the ecological balance has been broken.

[0003] Currently, there are many challenges in the ecological restoration of high-steep slopes in limestone mines. Traditional ecological restoration methods, such as simple vegetation planting, are difficult to adapt to the harsh site conditions of high-steep slopes, with low vegetation survival rates and difficult to achieve ideal restoration effects. While some complex engineering restoration technologies can, to a certain extent, improve the slope stability, they are often costly and may cause secondary damage to the environment. At the same time, existing restoration technologies have deficiencies in considering the slope geological conditions, geomorphic features, and the integrity of the ecological system, lacking pertinence and systematicness. In addition, when conducting ecological restoration on high-steep slopes in limestone mines, accurately obtaining the topographic and geomorphic information of the slopes is crucial. However, existing measurement and modeling technologies have limitations when facing the complex terrain of limestone mines. Conventional measurement methods are difficult to comprehensively and accurately obtain the topographic data of high-steep slopes, resulting in low-precision models and unable to provide reliable basis for ecological restoration. In terms of geomorphic recognition, traditional methods mainly rely on manual experience judgment, with low efficiency and poor accuracy, and it is difficult to meet the needs of large-scale ecological restoration projects.

[0004] Therefore, how to develop an efficient, accurate, and economically feasible method and system for ecological restoration of high-steep slopes in limestone mines is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a method and system for ecological restoration of high-steep slopes in limestone mines, achieving sustainable restoration effects.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] On the one hand, the present invention discloses an ecological restoration method for high-steep slopes in limestone mines, including the following steps:

[0008] Obtain slope area data, and use the slope area data to construct a three-dimensional slope model; the slope area data includes high-density point cloud data and oblique image data;

[0009] Based on the three-dimensional slope model, conduct geomorphic recognition on the slope area to obtain a geomorphic recognition result;

[0010] Adopt different ecological restoration technologies for different geomorphic recognition results to complete ecological restoration.

[0011] Preferably, obtaining slope area data and using the slope area data to construct a three-dimensional slope model includes:

[0012] Obtain the high-density point cloud data and the oblique image data, perform spatio-temporal registration on the high-density point cloud data and the oblique image data to obtain registered data, and perform point-by-point classification on the registered data to obtain terrain point cloud data;

[0013] Based on the terrain point cloud data, construct a terrain model, construct a ground object model according to the oblique image data, and use the terrain model and the ground object model to generate an initial three-dimensional model;

[0014] Use the first positioning information based on the geographic coordinate system and the second positioning information based on the positioning sensor to correct the initial three-dimensional model to obtain a three-dimensional slope model.

[0015] Preferably, using the terrain model and the ground object model to generate an initial three-dimensional model includes:

[0016] For the ground object model and the terrain model, unify the coordinates through control points and integrate the two models into the same global coordinate system;

[0017] Through the high-precision control information provided by the ground object model, combined with grid deformation operations, perform local deformation and refinement on the terrain model, and constrain the absolute elevation of the ground object model through the terrain undulation trend to achieve the registration of the ground object model and the terrain model;

[0018] For the registered terrain model and ground object model, perform seamless integration through surface reconstruction methods to obtain an integrated model;

[0019] The regional importance of the integrated model is evaluated through importance measurement indicators, adjusted for each region according to the evaluation results, and texture mapping is performed in combination with pre-acquired oblique image data to obtain the initial three-dimensional model.

[0020] Preferably, the steps for obtaining the first positioning information and the second positioning information are as follows:

[0021] The initial three-dimensional model is registered to the geographic coordinate system through control points, and positioning and optimization are performed by combining the multi-constraint joint adjustment optimization model and the block adjustment algorithm to obtain the first positioning information;

[0022] Based on multiple positioning sensors pre-set on the slope, fusion positioning is performed. By constructing a state space model and combining the Kalman filter algorithm to calculate the fusion positioning information, and the sensor data is corrected through a calibration algorithm based on the error state to obtain the second positioning information.

[0023] Preferably, the geomorphic recognition of the slope area is performed based on the three-dimensional slope model, and the geomorphic recognition result is obtained, including:

[0024] The profile curvature of the three-dimensional slope model is calculated in sequence with a window area of a cm × a cm, and geomorphic recognition is performed according to the profile curvature to obtain the geomorphic recognition result.

[0025] Preferably, the profile curvature K' p has the following expression:

[0026] K' p = C r ·K p ;

[0027]

[0028] In the formula, C r is the correction coefficient; K p is the standard profile curvature; f xx is the second-order partial derivative of the feature point of the three-dimensional slope model in the X direction; f xy is the second-order partial derivative of the feature point of the three-dimensional slope model that first takes the partial derivative in the X direction and then takes the partial derivative in the Y direction; f x is the partial derivative of the feature point of the three-dimensional slope model in the X direction; f y is the partial derivative of the feature point of the three-dimensional slope model in the Y direction; f yy is the second-order partial derivative of the feature point of the three-dimensional slope model in the Y direction.

[0029] Preferably, the geomorphic recognition result includes:

[0030] Gentle toe region: -0.015 ≤ K' p< 0.015;

[0031] Water and soil accumulation area: -0.75 ≤ K' p < -0.015;

[0032] Gentle slope area: 0.015 ≤ K' p < 0.75;

[0033] Steep cliff area: K' p ≥ 0.75.

[0034] Preferably, different ecological restoration techniques are adopted for different said geomorphic recognition results, including:

[0035] For the gentle area at the foot of the slope, the plant population configuration technique is adopted for ecological restoration;

[0036] For the water and soil accumulation area, the steep slope slowdown technique is used for land leveling, and the ecological restoration is carried out in combination with the plant population configuration technique and the drainage ditch technique;

[0037] For the gentle slope area, the spraying seeding technique or the vegetation bag technique is selected for ecological restoration;

[0038] For the steep cliff area, natural restoration is implemented.

[0039] Preferably, the ecological restoration method for the high-steep slope of a limestone mine further includes:

[0040] According to the exploration of the hidden space of the high-steep slope of the limestone mine, shallow drilling is carried out to expose the hidden space, the soil and ecological filler are filled, vine plants are introduced, and measures for storing rainwater in the rainy season and drought in the dry season are taken.

[0041] On the other hand, the present invention also discloses an ecological restoration system for the high-steep slope of a limestone mine, which is used to implement the above ecological restoration method for the high-steep slope of a limestone mine, including:

[0042] A data acquisition unit, which is used to obtain slope area data and construct a three-dimensional slope model by using the slope area data; the slope area data includes high-density point cloud data and oblique image data;

[0043] A geomorphic recognition unit, which conducts geomorphic recognition on the slope area based on the three-dimensional slope model to obtain a geomorphic recognition result;

[0044] A restoration plan determination unit, which is used to adopt different ecological restoration techniques for different said geomorphic recognition results to complete ecological restoration.

[0045] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a method and system for ecological restoration of high-steep slopes in limestone mines. By constructing a high-precision three-dimensional slope model with high-density point cloud data and oblique image data, accurately identifying landforms through profile curvature, adopting adapted ecological restoration technologies for different landforms, and comprehensively processing the hidden space, it can more efficiently and scientifically achieve the ecological restoration of high-steep slopes in limestone mines, improve the restoration effect, enhance the pertinence and systematicness of the restoration plan, reduce the cost of ecological restoration, and effectively promote the restoration and reconstruction of the ecosystem. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0047] Figure 1 It is a flowchart of the method provided by the present invention;

[0048] Figure 2 It is a system architecture diagram provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0050] On the one hand, the present invention discloses a method for ecological restoration of high-steep slopes in limestone mines. Refer to Figure 1 The method includes the following steps:

[0051] S1. Obtain slope area data and construct a three-dimensional slope model using the slope area data, including:

[0052] S11. Obtain slope area data (high-density point cloud data and oblique image data), perform spatio-temporal registration on the high-density point cloud data and the oblique image data to obtain registered data, and perform point-by-point classification on the registered data to obtain terrain point cloud data.

[0053] Using a drone equipped with a high-precision lidar and a multispectral camera, comprehensively scan and photograph the high-steep slope area of a limestone mine to obtain high-density point cloud data and oblique image data. During the data acquisition process, reasonably plan the flight route of the drone according to the scope and terrain complexity of the slope to ensure the integrity and accuracy of the data. After obtaining the data, use professional data processing software to perform spatio-temporal registration on the high-density point cloud data and the oblique image data. By identifying and matching the homologous feature points in the data, align the two types of data in time and space to obtain the registered data. Then, use an advanced point cloud classification algorithm (a classification method based on machine learning) to classify each point of the registered data, divide it into different categories such as terrain points and ground object points, and extract the terrain point cloud data.

[0054] S12. Based on the terrain point cloud data, construct a terrain model, and based on the oblique image data, construct a ground object model. Use the terrain model and the ground object model to generate an initial three-dimensional model, including:

[0055] In this embodiment, for the terrain point cloud data, through the adaptive triangulation generation algorithm, extract the terrain structure lines and construct an irregular triangulation to obtain the terrain model; according to the pre-acquired oblique image data, perform three-dimensional reconstruction through the multi-view geometric consistency algorithm and the three-dimensional reconstruction algorithm, and at the same time perform semantic annotation to obtain the ground object model.

[0056] S121. For the ground object model and the terrain model, unify the coordinates through control points and integrate the two models into the same global coordinate system;

[0057] S122. Through the high-precision control information provided by the ground object model, combined with the grid deformation operation, perform local deformation and refinement on the terrain model, and constrain the absolute elevation of the ground object model through the terrain undulation trend to achieve the registration of the ground object model and the terrain model;

[0058] S123. For the registered terrain model and ground object model, perform seamless integration through the surface reconstruction method to obtain an integrated model;

[0059] S124. Evaluate the regional importance of the integrated model through the importance measurement index, adjust each region according to the evaluation result, and perform texture mapping in combination with the pre-acquired oblique image data to obtain the initial three-dimensional model.

[0060] Obtain the coordinate information of the feature model and the terrain model in the global coordinate system through control point measurement. Using the control point coordinates, establish the coordinate transformation relationship between the feature model and the terrain model, such as similarity transformation, affine transformation, etc., and transform the feature model and the terrain model into the unified global coordinate system respectively to achieve the coordinate unification of the two models. Use the high-precision control information provided by the feature model, such as building corner points, etc., as the reference for registration, identify the area corresponding to the feature model in the terrain model, and establish the corresponding relationship between the two models. Adopt grid deformation techniques, such as thin plate spline (TPS) transformation, radial basis function (RBF) transformation, etc., to locally deform and refine the terrain model within the feature range to achieve precise registration with the feature model. Use the terrain undulation trend to constrain the absolute elevation of the feature model to eliminate the drift and unnecessary deformation of the model in the vertical direction. Through iterative optimization, continuously adjust the transformation relationship between the terrain model and the feature model until the best registration effect is achieved.

[0061] Perform surface reconstruction on the accurately registered terrain model and feature model to generate a unified three-dimensional surface. Adopt techniques such as mesh merging and mesh repair to eliminate the gaps, holes, and overlapping areas between the terrain model and the feature model. Through smoothing processing and detail preservation techniques, ensure the visual continuity and naturalness of the integrated three-dimensional surface, and finally obtain a seamlessly integrated model.

[0062] Evaluate the regional importance of the integrated model. Adopt predefined importance measurement indicators, such as visual saliency, semantic importance, etc. According to the evaluation results, add importance evaluation labels to each region to identify the regions with high importance and low importance. For the regions with high importance, perform encrypted subdivision according to the preset subdivision threshold to increase the grid density and detail expression. For the regions with low importance, reduce the grid subdivision to reduce the grid density and complexity. Adopt edge collapse operations to modify the shape of the triangular mesh and simplify the geometric representation of the low-importance regions while maintaining the shape characteristics of the important regions.

[0063] Pre-obtain the oblique image data of the target area, obtain high-resolution images through methods such as oblique photogrammetry or UAV photography, register the oblique images with the integrated model to establish the corresponding relationship between the images and the model. Through texture mapping technology, map the texture information in the images to the surface of the three-dimensional landscape model to endow the model with real colors and textures. Adopt texture optimization techniques, such as texture fusion, color correction, etc., to ensure the texture consistency and seamless connection between different images. After texture mapping, obtain an initial three-dimensional model with a sense of reality and visual impact.

[0064] S13. Correct the initial three-dimensional model using the first positioning information based on the geographic coordinate system and the second positioning information based on the positioning sensor to obtain the slope three-dimensional model.

[0065] Among them, the steps for obtaining the first positioning information and the second positioning information are as follows:

[0066] Register the initial three-dimensional model to the geographic coordinate system through control points, and perform positioning and optimization by combining multi-constraint joint adjustment optimization model and block adjustment algorithm to obtain the first positioning information;

[0067] Based on multiple positioning sensors pre-set on the slope, perform fusion positioning. By constructing a state space model, combine the Kalman filtering algorithm to calculate the fusion positioning information, and correct the sensor data through a calibration algorithm based on the error state to obtain the second positioning information.

[0068] Furthermore, align the first positioning information and the second positioning information in terms of time stamp and spatial coordinates.

[0069] Take the geometric parameters (such as vertex coordinates, side lengths, angles, etc.) of the slope three-dimensional model as state variables to construct a state space model. The state transition equation describes the variation law of these parameters over time, and the observation equation relates the state variables to the two positioning information. Use the Kalman filtering algorithm to fuse the two positioning information. At each time step, predict the current state according to the state space model, and then update the prediction result by combining the two positioning information. By minimizing the mean square value of the estimation error, obtain the optimal state estimation, that is, the corrected parameters of the slope three-dimensional model.

[0070] Establish an error equation based on the differences between the first positioning information and the second positioning information and the slope three-dimensional model. The error equation can be expressed as the residual between the model parameters and the positioning information. Solve the error equation by the least squares method to adjust the parameters of the slope three-dimensional model to minimize the error. This method can simultaneously consider the accuracy and reliability of the two positioning information to obtain a corrected model.

[0071] Use independent verification data (such as high-precision measurement data or known slope feature points) to verify the corrected slope three-dimensional model. Calculate the error between the model and the verification data to evaluate the correction effect.

[0072] If the verification result does not meet the accuracy requirements, according to the feedback of the verification data, adjust the parameters of the data fusion and correction algorithms and perform correction again. Through multiple iterations, gradually improve the accuracy of the slope three-dimensional model.

[0073] S2. Perform geomorphic recognition on the slope area based on the slope three-dimensional model to obtain the geomorphic recognition result.

[0074] Specifically, the sectional curvature of the three-dimensional slope model is calculated successively with a window area of a cm × a cm, and geomorphic recognition is carried out according to the sectional curvature to obtain the geomorphic recognition result. In this embodiment, a = 3.

[0075] Sectional curvature K' p The expression of is:

[0076] K' p = C r ·K p ;

[0077]

[0078] In the formula, C r is the correction coefficient; K p is the standard sectional curvature; f xx is the second-order partial derivative of the characteristic point of the three-dimensional slope model in the X direction; f xy is the second-order partial derivative obtained by first taking the partial derivative of the characteristic point of the three-dimensional slope model in the X direction and then taking the partial derivative in the Y direction; f x is the partial derivative of the characteristic point of the three-dimensional slope model in the X direction; f y is the partial derivative of the characteristic point of the three-dimensional slope model in the Y direction; f yy is the second-order partial derivative of the characteristic point of the three-dimensional slope model in the Y direction.

[0079] The correction coefficient C r is determined according to the data resolution and the terrain complexity. In this embodiment, in the area with high data resolution and complex terrain, C r takes the value of 1.2; in the area with relatively low data resolution and relatively simple terrain, C r takes the value of 0.9.

[0080] The geomorphic recognition result includes:

[0081] Gentle slope toe area: -0.015 ≤ K' p < 0.015;

[0082] Water and soil accumulation area: -0.75 ≤ K' p < -0.015;

[0083] Gentle slope area: 0.015 ≤ K' p < 0.75;

[0084] Steep cliff area: K' p ≥ 0.75.

[0085] S3. Different ecological restoration techniques are adopted for different geomorphic recognition results to complete ecological restoration.

[0086] For the gentle slope toe area, the plant population configuration technology is adopted for ecological restoration;

[0087] For the areas with water and soil accumulation, slope reduction technology is used for land leveling to eliminate the unstable factors of the accumulations, and ecological restoration is carried out by combining plant population configuration technology and drainage ditch technology.

[0088] For the gentle slope areas, spraying sowing technology or vegetation bag technology is selected for ecological restoration according to needs, the plant site environment is improved, and space for the development of vegetation roots is left to achieve the purpose of restoring and improving the natural landscape.

[0089] For the cliff areas, natural restoration is implemented. Through natural weathering and leaching and natural restoration of scattered vegetation, the effect is nearly the same as that of the surrounding mountains, and excessive artificial landscaping at any cost is avoided.

[0090] In the plant population configuration technology, it is mainly considered that the soil in abandoned mines has poor water retention, is barren, the plant establishment conditions are harsh, and the later management and protection are difficult. In the configuration and combination of plants, local species that are barren-tolerant and drought-tolerant should be preferably selected according to local conditions, with the rapid restoration of vegetation as the main goal. Secondly, the vegetation diversity after restoration should be considered, and trees, shrubs, herbs, and vines should be combined, and comprehensive consideration should be given from aspects such as ecology, economy, and aesthetics.

[0091] The slope reduction technology refers to the technology of using stone blasting, waste rock and slag backfilling, and stepped slope cutting technology to cut the high and steep slope into low and steep multi-level steps, ensuring the stability and long-term safety of the slope, preventing the collapse and landslide of the slope rock and soil layer, and eliminating potential safety hazards.

[0092] The design of the drainage ditch shall comply with the standards of the "Technical Code for Design and Construction of Landslide Prevention Engineering" (DZ / T 0219-2006).

[0093] The spraying sowing technology adopted in this embodiment is the microbial spraying sowing technology with soil spraying and net hanging, which integrates the concept of "plant + microorganism" collaborative restoration. By inoculating plant growth-promoting rhizobacteria, the physical structure of the soil in the degraded ecosystem is quickly reconstructed, the soil microbial composition is optimized, the ability of vegetation to absorb soil nutrients is enhanced, the soil organic matter content is increased, and the stress resistance of plants is enhanced. The main technological processes include leveling and covering soil, anchor rod construction, net hanging, spraying microbial matrix, spraying seeds, covering vegetation blankets, etc.

[0094] The vegetation bag technology refers to the method of forming a suitable environment for plant growth on the slope surface by stacking ecological bags filled with plant growth matrix layer by layer along the slope surface, and at the same time tightly combining the bags with each other, layers with each other, and bags with the rock surface through connecting fittings. As the plants grow, the slope is further fixed, and herbs, small shrubs, and even small trees can grow well, and a lush vegetation effect can be formed.

[0095] Preferably, the ecological restoration method for high and steep slopes of limestone mines further includes:

[0096] According to the exploration of hidden spaces such as karsts and fissures inside the bedrock on the steep vertical surfaces of high-steep slopes in limestone mines, shallow drilling is carried out to expose the hidden spaces, fill them with soil and ecological fillers, introduce vine plants, and take measures for storing rainwater in the rainy season and dealing with drought in the dry season.

[0097] In this embodiment, horizontal small-diameter drilling is carried out along the strike of the rock formation inside the bedrock mountain body from the opening of the fissure (the drilling density is 1 per 2 meters, and the drilling depth is about 1 meter), and the preferred anti-seepage soil matrix material is filled to slow down the seepage rate of water flow into the mountain body in the rainy season, increase the humidity of the bedrock surface of the free face in sunny and dry weather, and promote the natural succession of native pioneer ecosystems such as algae, mosses, and lichens.

[0098] In the selection of ecological restoration materials, this embodiment selects waste materials such as in-situ soil in the mine, abandoned waste residues, and waste rocks, and appropriately adds materials such as adhesives and ecological and environmental protection fillers to optimize the water and fertilizer capacity and ratio of the soil, consuming waste materials while achieving the maximum utilization of resources.

[0099] Native dominant biological species are selected for ecological restoration species to avoid introducing biological invasion varieties. In terms of population configuration, the configuration of species such as trees, shrubs, herbs, and vines is strengthened, and sufficient space is reserved for ecological succession.

[0100] On the other hand, the embodiment of the present invention also discloses an ecological restoration system for high-steep slopes of limestone mines, as Figure 2 shown, for implementing the above ecological restoration method for high-steep slopes of limestone mines, including:

[0101] A data acquisition unit for acquiring slope area data and constructing a three-dimensional slope model using the slope area data; the slope area data includes high-density point cloud data and oblique image data;

[0102] A geomorphic recognition unit for performing geomorphic recognition on the slope area based on the three-dimensional slope model to obtain a geomorphic recognition result;

[0103] A restoration plan determination unit for adopting different ecological restoration technologies for different geomorphic recognition results to complete ecological restoration.

[0104] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0105] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for ecological restoration of high and steep slopes in limestone mines, characterized in that: The following steps are involved: Acquire slope area data, and construct a three-dimensional slope model using the slope area data; the slope area data includes high-density point cloud data and oblique image data; Performing landform recognition on the slope area based on the three-dimensional slope model to obtain a landform recognition result; Different ecological restoration technologies are used according to different landform identification results to complete ecological restoration.

2. A method for ecological restoration of high and steep slopes in limestone mines according to claim 1, characterized in that: Acquiring slope area data and constructing a three-dimensional slope model using the slope area data includes: Acquire the high-density point cloud data and the oblique image data, perform spatiotemporal registration on the high-density point cloud data and the oblique image data to obtain registration data, and classify the registration data point by point to obtain terrain point cloud data; Constructing a terrain model based on the terrain point cloud data, constructing a ground object model based on the oblique image data, and generating an initial three-dimensional model using the terrain model and the ground object model; The initial three-dimensional model is corrected using the first positioning information based on the geographic coordinate system and the second positioning information based on the positioning sensor to obtain a three-dimensional slope model.

3. A method for ecological restoration of high and steep slopes in limestone mines according to claim 2, characterized in that: Generating an initial three-dimensional model using the terrain model and the ground object model includes: For the object model and the terrain model, coordinate unification is performed through control points, and the two models are integrated into the same global coordinate system; The terrain model is locally deformed and refined by combining the high-precision control information provided by the terrain model with the mesh deformation operation, and the absolute elevation of the terrain model is constrained by the terrain undulation trend to achieve registration of the terrain model and the terrain model; The registered terrain model and object model are seamlessly integrated through surface reconstruction method to obtain an integrated model; The integrated model is evaluated for regional importance through importance measurement indicators, and adjustments are made for each region according to the evaluation results. Texture mapping is performed in combination with pre-acquired oblique image data to obtain the initial three-dimensional model.

4. A method for ecological restoration of high and steep slopes in limestone mines according to claim 2, characterized in that: The steps of obtaining the first positioning information and the second positioning information are as follows: The initial three-dimensional model is registered to the geographic coordinate system through control points, and is positioned and optimized by combining a multi-constraint joint adjustment optimization model and a regional block adjustment algorithm to obtain the first positioning information; Based on multiple positioning sensors pre-set on the slope, fusion positioning is performed, a state space model is constructed, and fusion positioning information is calculated in combination with a Kalman filter algorithm. The sensor data is corrected by a calibration algorithm based on an error state to obtain the second positioning information.

5. The method for ecological restoration of high and steep slopes in limestone mines according to claim 1, characterized in that: Performing landform recognition on the slope area based on the three-dimensional slope model to obtain a landform recognition result includes: The section curvature of the three-dimensional model of the slope is calculated in sequence with a window area of ​​a cm×a cm, and landform recognition is performed according to the section curvature to obtain a landform recognition result.

6. A method for ecological restoration of high and steep slopes in limestone mines according to claim 5, characterized in that: The cross-sectional curvature K' p The expression is: K’ p =C r ·K p ; In the formula, C r is the correction factor; K p is the standard profile curvature; f xx is the second-order partial derivative of the characteristic point of the slope 3D model in the X direction; f xy The second-order partial derivative of the characteristic point of the three-dimensional slope model is first calculated in the X direction and then in the Y direction; f x is the partial derivative of the characteristic point of the slope 3D model in the X direction; f y is the partial derivative of the characteristic point of the slope 3D model in the Y direction; f yy It is the second-order partial derivative of the characteristic point of the slope three-dimensional model in the Y direction.

7. A method for ecological restoration of high and steep slopes in limestone mines according to claim 6, characterized in that: The landform recognition results include: Gentle slope foot area: -0.015≤K' p <0.015; Water and soil accumulation area: -0.75≤K' p <-0.015; Gentle slope area: 0.015≤K' p <0.75; Cliff area: K' p ≥0.

75.

8. A method for ecological restoration of high and steep slopes in limestone mines according to claim 7, characterized in that: Different ecological restoration technologies are used according to different landform identification results, including: For the gentle area at the foot of the slope, plant population configuration technology is used for ecological restoration; For the water and soil accumulation areas, steep slope mitigation technology is used to level the land, and ecological restoration is carried out by combining plant population configuration technology and drainage ditch technology; For the gentle slope area, choose spraying technology or vegetation bag technology for ecological restoration; For the steep cliff area, natural restoration is implemented.

9. The method for ecological restoration of high and steep slopes in limestone mines according to claim 1, characterized in that: Also includes: Based on the exploration of hidden spaces on the high and steep slopes of the limestone mine, shallow drilling is carried out to expose the hidden spaces, fill them with soil and ecological fillers, introduce vines, and take measures to store rainwater in the rainy season and drought in the dry season.

10. A limestone mine steep slope ecological restoration system, characterized in that: include: A data acquisition unit, used to obtain slope area data and construct a three-dimensional slope model using the slope area data; The slope area data includes high-density point cloud data and oblique image data; A landform recognition unit performs landform recognition on the slope area based on the three-dimensional slope model to obtain a landform recognition result; The restoration scheme determination unit is used to adopt different ecological restoration technologies according to different landform identification results to complete ecological restoration.

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