Open stope slope safety video monitoring system

Abstract

The invention discloses an open stope slope safety video monitoring system, which relates to the technical field of image analysis, and comprises an infrared detection module, a video monitoring module and an analysis and judgment module, the video monitoring module is used for detecting the number of cracks in a slope rock stratum and the size of crack openings in a mode of carrying out real-time image detection on a slope and carrying out statistics on the displacement condition of feature points above the slope rock stratum in the excavation process. The analysis and judgment module is used for analyzing the soil softening degree of a slope toe and the excavation depth of the slope toe and guiding whether excavation is needed or not and the excavation depth, and the infrared detection module comprises a thermal imaging camera, a temperature detection unit, an infrared image analysis module and a thermal inertia calculation module. The thermal imaging camera is electrically connected with the infrared image analysis module, and the system has the characteristic of real-time analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of image analysis, and specifically to an open-pit stope slope safety video monitoring system. Background Technique

[0002] Stepped slopes are usually designed to improve slope stability and are widely used in open-pit mining areas. During mining, operations such as perforating, blasting, excavating, and transporting the slope are usually required. Manually excavating the toe of the slope will cause overhanging umbrella rocks, and the possible collapse will pose a hidden danger to slope safety. However, when the main structure of the slope toe is soil, during the mining process, the soil will soften due to reasons such as rainwater immersion. The softened soil lacks sufficient supporting force, which may cause the problem of hole collapse due to vibration when the perforating equipment is performing perforating operations.

[0003] In the prior art, it often only prohibits manual excavation of the slope toe and only strengthens the periphery of the toe, with poor seismic resistance, or investigates and judges whether the toe is excavated according to the judgment of engineering personnel, which requires a large amount of time and manpower and is highly subjective, lacking a unified judgment standard. Therefore, it is very necessary to design an open-pit stope slope safety video monitoring system for real-time analysis. Summary of the Invention

[0004] The purpose of the present invention is to provide an open-pit stope slope safety video monitoring system to solve the problems raised in the above background technique.

[0005] To solve the above technical problems, the present invention provides the following technical solution: An open-pit stope slope safety video monitoring system includes an infrared detection module, a video monitoring module, and an analysis and judgment module. The infrared detection module uses infrared scanning to obtain the thermal inertia of the slope soil. The video monitoring module is used to detect the number of cracks and the size of crack openings in the slope rock formation by real-time image detection of the slope, and to count the displacement of characteristic points above during the excavation process. The analysis and judgment module is used to analyze the softening degree of the soil at the slope toe and the depth that can be excavated at the slope toe, and to guide whether excavation is required and the excavation depth.

[0006] According to the above technical solution, the infrared detection module includes a thermal imaging camera, a temperature detection unit, an infrared image analysis module, and a thermal inertia calculation module. The thermal imaging camera is electrically connected to the infrared image analysis module, and the infrared image analysis module and the temperature detection unit are electrically connected to the thermal inertia calculation module. The thermal imaging camera is used to measure the temperature distribution on the soil surface. The temperature detection unit is used to monitor the temperature of the current open-pit mine. The infrared image analysis module is used to calculate the soil temperature at the current slope toe according to the thermal imaging picture. The thermal inertia calculation module is used to calculate the thermal inertia of the soil according to the collected temperature change data; The video monitoring module includes a high-definition camera, a model generation module, a region division module, a slope parameter statistics module, a crack analysis module, and a feature point marking module. The high-definition camera is electrically connected to the model generation module, the model generation module is electrically connected to the region division module and the slope parameter statistics module, the region division module is electrically connected to the crack analysis module. The high-definition camera is used to collect high-definition images of the slope. The model generation module is used to generate a three-dimensional model of the slope in a three-dimensional coordinate system based on the collected slope images. The region division module is used to identify the soil and rocks on the slope and divide the corresponding regions. The slope parameter statistics module is used to calculate the height and slope angle of the slope based on the three-dimensional model of the slope. The crack analysis module is used to identify the cracks in the rock region and analyze the number and size of the cracks. The feature point marking module is used to mark the feature points in the rock region above the toe of the slope before excavation; The analysis and judgment module includes a moisture content calculation module, a displacement judgment module, an excavable depth calculation module, a reminder module, and a real-time correction module. The moisture content calculation module is electrically connected to the thermal inertia calculation module, the displacement judgment module is electrically connected to the feature point marking module, the excavable depth calculation module is electrically connected to the slope parameter statistics module and the crack analysis module, and the real-time correction module is electrically connected to the displacement judgment module. The moisture content calculation module is used to calculate the soil moisture content at the toe of the slope based on the thermal inertia of the soil region to obtain the softening degree. The displacement judgment module is used to count the displacements of each feature point on the rock region during excavation. The excavable depth calculation module is used to calculate the excavable depth based on the height and slope angle of the slope at the current excavation position, as well as the number and size of the cracks in the rock region. The reminder module is used to remind the construction personnel whether certain regions can be excavated and to remind of the correction of the excavable depth. The real-time correction module is used to correct the excavable depth based on the displacement data of the feature points in the rock region.

[0007] According to the above technical solution, the working method of the system is as follows: S1. After the slope in the open-pit mine is formed by mining, use the high-definition camera to collect slope images, perform three-dimensional modeling on the collected images to generate a three-dimensional model of the slope, calculate the height and slope angle of the slope, and identify the soil and rocks on the slope wall, marking the soil region and the rock region; S2. Conduct remote sensing infrared scanning on the soil region at the toe of the slope for a period of time, and record the temperature changes in the open-pit mine in real time, count the temperature changes in the soil region, calculate the thermal inertia of the soil, and analyze the moisture content; S3. When it is determined that the water content is too high, if there is a risk of hole collapse during perforation operation above the soil area at the current toe of the slope, toe excavation work needs to be carried out. At this time, crack detection is performed on the rock area directly above the soil area, and the available excavation depth is calculated. S4. Remind the construction personnel of the location and depth to be excavated. Before excavation, mark the characteristic points on the rock area above the toe of the slope, and continuously detect the displacement of the characteristic points above during the excavation process. Correct the available excavation depth according to the displacement situation.

[0008] According to the above technical solution, in S2, the specific method for calculating the thermal inertia of the soil is as follows: S2-1. After the slope is formed, sample and detect the soil density of the slope to obtain the density of the soil in the dry state. , Select two time points with a large temperature difference in a day, record the temperatures of the open-pit mine at these two time points, which are and respectively. And process the infrared thermal imaging image of the soil area at the toe of the slope collected, extract the temperature distribution information on the soil surface, and obtain the temperatures of a certain soil area at these two time points and ; S2-2. Calculate the ambient temperature difference between the two time points, and the temperature difference of the soil area, to obtain the thermal inertia of the current soil area. Eliminate the influence of the density of the soil in the dry state on the thermal inertia, and obtain the water content of the current soil area, where is the conversion coefficient between thermal inertia and water content, is the influence coefficient of soil density on thermal inertia. When it is determined that the water content is greater than the set value , it is determined that toe excavation work needs to be carried out.

[0009] According to the above technical solution, in S3, the specific method for crack detection of the rock area directly above the soil area is as follows: S3-1. When it is identified that there is a rock area on the slope wall directly above a certain soil area to be excavated, calculate the area of the rock area. When the width of the rock area completely covers the width of the soil area to be excavated, the effective width used to calculate the area of the rock area is the same as the width of the soil area to be excavated, and the effective length used to calculate the area of the rock area only needs to consider the rock area within the range of the distance from the upper edge of the soil area. Calculate the effective rock area ; S3-2. Identify the rock fractures on the effective rock area. Since more and more complex fractures in the rock are more likely to cause collapse during excavation, and the deeper the excavation, the more prominent the umbrella rock will be, resulting in a greater risk of collapse. Therefore, according to the number of fractures within the area of the effective rock area and the length of each fracture calculate the depth that can be excavated.

[0010] According to the above technical solution, in S3-2, the specific method for calculating the depth that can be excavated is as follows: Based on the slope height and the slope angle data at each position collected from the three-dimensional slope model in S1, obtain the tangent value of the soil area to be excavated under the profile of the three-dimensional slope model and the slope height , and obtain the maximum depth that can be excavated , where is the conversion coefficient between the depth that can be excavated and the slope angle, and set the depth that can be excavated according to the fracture complexity in S3-2, that is, the depth that can be excavated , where is the influence coefficient of the length of the fractures within the area of the rock area on the depth that can be excavated.

[0011] According to the above technical solution, in S4, the specific method for detecting the displacement of characteristic points is as follows: S4-1. Use an image scanning device to take pictures of the rock area above the toe of the slope before excavation, ensure that the photographed area is complete enough, apply a feature point detection algorithm to extract the feature points in the rock area, mark the identified feature points, and record the coordinate information of each feature point in the three-dimensional slope model; S4-2. Capture the video stream of the rock area in real time through a camera, regularly extract image frames for processing, calculate the displacement of each feature point between consecutive frames, analyze the displacement of the rock area based on the movement trajectory of the feature points to correct the depth that can be excavated. Once it is detected that the displacement of the feature points exceeds the safety threshold, immediately warn the construction personnel to stop excavation.

[0012] According to the above technical solution, in S4-2, the specific method for correcting the depth that can be excavated according to the displacement situation is as follows: When the displacement of the feature points is detected each time, reduce the depth that can be excavated by a fixed ratio, that is, the adjusted becomes , is the percentage coefficient of reduction. Subsequently, re-detect the number of fractures and the length of each fracture . If a change is detected, double the value of and continue to adjust.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, the thermal inertia of the soil at the slope toe is obtained by means of remote sensing infrared scanning imaging, the water content of the soil is calculated using the thermal inertia, and then the softening degree of the slope toe at each position is obtained. When it is judged that there is a potential risk of collapse during the perforation operation, the number and length of the cracks in the rock formation above it are detected and analyzed, and the depth that can be excavated is comprehensively judged in combination with the slope height and slope angle. After judging that excavation is required, the construction personnel are reminded to dig out the unstable soil for re-landfilling and reinforcement; and the displacement of the characteristic points above during the excavation process is detected in real time, and the depth that can be excavated is corrected according to the displacement situation to avoid damage caused by the collapse of the umbrella rock. This kind of detection and analysis process does not require manual judgment, and the detection is objective and highly real-time. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a schematic diagram of the overall module structure of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below 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 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 shall fall within the protection scope of the present invention.

[0016] Please refer to Figure 1 , the present invention provides a technical solution: An open-pit stope slope safety video monitoring system, including an infrared detection module, a video monitoring module, and an analysis and judgment module. The infrared detection module obtains the thermal inertia of the slope soil by means of infrared scanning. The video monitoring module is used to detect the number of cracks and the size of the crack openings in the slope rock formation by means of real-time image detection of the slope, and to count the displacement of the characteristic points above during the excavation process. The analysis and judgment module is used to analyze the softening degree of the soil at the slope toe and the depth that can be excavated at the slope toe, and to guide whether excavation is required and the excavation depth; The infrared detection module includes a thermal imaging camera, a temperature detection unit, an infrared image analysis module, and a thermal inertia calculation module. The thermal imaging camera is electrically connected to the infrared image analysis module, and the infrared image analysis module and the temperature detection unit are electrically connected to the thermal inertia calculation module. The thermal imaging camera is used to measure the temperature distribution on the soil surface. The temperature detection unit is used to monitor the temperature of the current open-pit mine. The infrared image analysis module is used to calculate the soil temperature at the toe of the current slope according to the thermal imaging picture. The thermal inertia calculation module is used to calculate the thermal inertia of the soil based on the collected temperature change data; The video monitoring module includes a high-definition camera, a model generation module, a region division module, a slope parameter statistics module, a crack analysis module, and a feature point marking module. The high-definition camera is electrically connected to the model generation module, and the model generation module is electrically connected to the region division module and the slope parameter statistics module. The region division module is electrically connected to the crack analysis module. The high-definition camera is used to collect high-definition images of the slope. The model generation module is used to generate a three-dimensional model of the slope in a three-dimensional coordinate system according to the collected slope images. The region division module is used to identify the soil and rocks on the slope and divide the corresponding regions. The slope parameter statistics module is used to calculate the height and slope angle of the slope according to the three-dimensional model of the slope. The crack analysis module is used to identify the cracks in the rock region and analyze the number and size of the cracks. The feature point marking module is used to mark the feature points in the rock region above the toe of the slope before excavation; The analysis and judgment module includes a moisture content calculation module, a displacement judgment module, an excavable depth calculation module, a reminder module, and a real-time correction module. The moisture content calculation module is electrically connected to the thermal inertia calculation module. The displacement judgment module is electrically connected to the feature point marking module. The excavable depth calculation module is electrically connected to the slope parameter statistics module and the crack analysis module. The real-time correction module is electrically connected to the displacement judgment module. The moisture content calculation module is used to calculate the moisture content of the soil at the toe of the slope according to the thermal inertia of the soil region to obtain the softening degree. The displacement judgment module counts the displacements of each feature point on the rock region during excavation. The excavable depth calculation module is used to calculate the excavable depth according to the height and slope angle of the slope at the current excavation position, as well as the number and size of the cracks in the rock region. The reminder module is used to remind the construction personnel which regions can be excavated and to remind them of the correction of the excavable depth. The real-time correction module is used to correct the excavable depth according to the feature point displacement data of the rock region; The working method of this system is as follows: S1. After the slope of the open-pit mine is formed by mining, use a high-definition camera to collect slope images, perform three-dimensional modeling on the collected images to generate a three-dimensional model of the slope, calculate the height and slope angle of the slope, and identify the soil and rocks on the slope wall surface, and mark the soil region and the rock region; S2. Conduct remote sensing infrared scanning on the soil area at the foot of the slope for a period of time, and record the temperature changes of the open-pit mine in real time. Statistically analyze the temperature changes in the soil area, calculate the thermal inertia of the soil, and analyze the moisture content. S3. When it is determined that the moisture content is too high, it is judged that there is a risk of hole collapse during the perforation operation above the soil area at the current foot of the slope, and slope toe excavation work needs to be carried out. At this time, crack detection is carried out on the rock area directly above the soil area, and the available excavation depth is calculated. S4. Remind the construction personnel of the location and depth to be excavated. Mark the characteristic points on the rock area above the slope toe before excavation, and detect the displacement of the characteristic points above in real time during the excavation process. Correct the available excavation depth according to the displacement situation. In S2, the specific method for calculating the thermal inertia of the soil is as follows: S2-1. After the slope is formed, sample and detect the soil density of the slope to obtain the density of the soil in the dry state , select two time points with a large temperature difference in a day, record the temperatures of the open-pit mine at these two time points, which are respectively and , and process the infrared thermal imaging images of the soil area at the foot of the slope collected, extract the temperature distribution information on the soil surface, and obtain the temperatures and of a certain soil area at these two time points; S2-2. Calculate the environmental temperature difference between the two time points, and the temperature difference of the soil area, to obtain the thermal inertia of the current soil area. Eliminate the influence of the density of the soil in the dry state on the thermal inertia to obtain the moisture content of the current soil area, where is the conversion coefficient between thermal inertia and moisture content, is the influence coefficient of soil density on thermal inertia. When it is judged that the moisture content is greater than the set value , it is judged that slope toe excavation work needs to be carried out; In S3, the specific method for crack detection on the rock area directly above the soil area is as follows: S3-1. When it is recognized that there is a rock area on the slope wall surface directly above a certain soil area to be excavated, calculate the area of the rock area. When the width of the rock area completely covers the width of the soil area to be excavated, the effective width used to calculate the area of the rock area is the same as the width of the soil area to be excavated, and the effective length used to calculate the area of the rock area only needs to consider the distance The rock area within the range is sufficient, and the effective rock area is calculated. ; S3-2. Identify the rock fractures on the effective rock area. Since more and more complex fractures in the rock are more likely to cause collapse during excavation, and the deeper the excavation, the more prominent the umbrella rock will be, resulting in a greater collapse risk. Therefore, according to the number of fractures and the length of each fracture calculate the depth of excavation. In S3-2, the specific method for calculating the depth of excavation is as follows: Based on the slope height and slope angle data collected from the slope three-dimensional model in S1, obtain the tangent value and the slope height of the soil area to be excavated under the section of the slope three-dimensional model, and obtain the maximum depth of excavation , where is the conversion coefficient between the depth of excavation and the slope angle, and set the depth of excavation according to the fracture complexity in S3-2, that is, the depth of excavation , where is the influence coefficient of the length of the fractures in the rock area on the depth of excavation; In S4, the specific method for detecting the displacement of characteristic points is as follows: S4-1. Use an image scanning device to take pictures of the rock area above the toe of the slope before excavation, ensure that the photographed area is complete enough, apply a feature point detection algorithm to extract the feature points in the rock area, mark the identified feature points, and record the coordinate information of each feature point in the slope three-dimensional model; S4-2. Capture the video stream of the rock area in real time through a camera, regularly extract image frames for processing, calculate the displacement of each feature point between consecutive frames, analyze the displacement of the rock area based on the movement trajectory of the feature points to correct the depth of excavation, and immediately warn the construction personnel to stop excavation once the displacement of the feature points exceeds the safety threshold; In S4-2, the specific method for correcting the depth of excavation according to the displacement is as follows: when the displacement of the feature points is detected each time, reduce the depth of excavation by a fixed ratio, that is, the adjusted becomes , is the percentage coefficient of reduction. Subsequently, re-detect the number of fractures and the length of each fracture . If a change is detected, double the value of and continue to adjust.

[0017] The thermal inertia of the soil at the toe of the slope is obtained by means of remote sensing infrared scanning imaging. The water content of the soil is calculated using the thermal inertia, and then the softening degree of the soil at the toe of the slope at each position is obtained. When it is judged that there is a potential hazard of collapse during the perforation operation, the number and length of the cracks in the rock formation above it are detected and analyzed. Combining the slope height and slope angle, the excavable depth is comprehensively judged. After judging that excavation is required, the construction personnel are reminded to dig out the unstable soil for re-landfilling and reinforcement. Moreover, the displacement of the characteristic points above during the excavation process is detected in real time, and the excavable depth is corrected according to the displacement situation to avoid damage caused by the collapse of the umbrella rock. This kind of detection and analysis process does not require manual judgment, and the detection is objective and has strong real-time performance.

[0018] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0019] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An open-pit stope slope safety video monitoring system, characterized in that: It includes an infrared detection module, a video monitoring module, and an analysis and judgment module. The infrared detection module obtains the thermal inertia of the slope soil by means of infrared scanning. The video monitoring module is used to detect the number of cracks and the size of crack openings in the slope rock formation by means of real-time image detection of the slope, and to count the displacement of characteristic points above during the excavation process. The analysis and judgment module is used to analyze the degree of soil softening at the slope toe and the depth that can be excavated at the slope toe.

2. The open-pit stope slope safety video monitoring system according to claim 1, wherein: The infrared detection module includes a thermal imaging camera, a temperature detection unit, an infrared image analysis module, and a thermal inertia calculation module. The thermal imaging camera is used to measure the temperature distribution on the soil surface. The temperature detection unit is used to monitor the temperature of the current open-pit mine. The infrared image analysis module is used to calculate the soil temperature at the slope toe of the current slope according to the thermal imaging picture. The thermal inertia calculation module is used to calculate the thermal inertia of the soil according to the collected temperature change data; The video monitoring module includes a high-definition camera, a model generation module, a region division module, a slope parameter statistics module, a crack analysis module, and a characteristic point marking module. The high-definition camera is used to collect high-definition images of the slope. The model generation module is used to generate a three-dimensional model of the slope in a three-dimensional coordinate system according to the collected slope images. The region division module is used to identify the soil and rocks on the slope and divide the corresponding regions. The slope parameter statistics module is used to calculate the height and slope angle of the slope according to the three-dimensional model of the slope. The crack analysis module is used to identify the cracks in the rock region and analyze the number and size of the cracks. The characteristic point marking module is used to mark the characteristic points in the rock region above the slope toe before excavation; The analysis and judgment module includes a moisture content calculation module, a displacement judgment module, an excavable depth calculation module, a reminder module, and a real-time correction module. The moisture content calculation module is used to calculate the moisture content of the soil at the slope toe of the slope according to the thermal inertia of the soil region to obtain the softening degree. The displacement judgment module counts the displacement of each characteristic point on the rock region during excavation. The excavable depth calculation module is used to calculate the excavable depth according to the height and slope angle of the slope at the current excavation position, and the number and size of cracks in the rock region. The reminder module is used to remind the construction personnel which regions can be excavated and to remind of the correction of the excavable depth. The real-time correction module is used to correct the excavable depth according to the characteristic point displacement data of the rock region.

3. The open-pit stope slope safety video monitoring system according to claim 2, characterized in that: The working method of this system is as follows: S1. After the slope of the open-pit mine is formed by mining, use a high-definition camera to collect slope images, perform three-dimensional modeling on the collected images to generate a three-dimensional model of the slope, calculate the height and slope angle of the slope, and identify the soil and rocks on the slope wall surface, and mark the soil region and the rock region; S2. Conduct remote sensing infrared scanning on the soil area at the foot of the slope for a period of time, and record the temperature changes of the open-pit mine in real time. Statistically analyze the temperature changes in the soil area, calculate the thermal inertia of the soil, and analyze the moisture content. S3. When it is determined that the moisture content is too high, and it is judged that there is a risk of hole collapse during perforation operation above the soil area at the current foot of the slope, and slope foot excavation work is required. At this time, detect cracks in the rock area directly above the soil area and calculate the available excavation depth. S4. Remind the construction personnel of the location and depth to be excavated. Mark the characteristic points in the rock area above the foot of the slope before excavation, and detect the displacement of the characteristic points above in real time during the excavation process. Correct the available excavation depth according to the displacement situation.

4. The open-pit stope slope safety video monitoring system according to claim 3, wherein: In S2, the specific method for calculating the thermal inertia of the soil is as follows: S2-1. After the slope is formed, sample and detect the soil density of the slope to obtain the density of the soil in the dry state. , select two time points with a large temperature difference in a day, record the temperatures of the open-pit mine at these two time points, which are and , and process the infrared thermal imaging images of the soil area at the toe of the slope collected, extract the temperature distribution information on the soil surface, and obtain the temperatures and of a certain soil area at these two time points; S2-2. Calculate the environmental temperature difference between two time points , and the soil area temperature difference , to obtain the thermal inertia of the current soil area , eliminate the influence of the density of the soil in the dry state on the thermal inertia, and obtain the moisture content of the current soil area , where is the conversion coefficient between thermal inertia and moisture content, is the influence coefficient of soil density on thermal inertia. When it is judged that the moisture content is greater than the set value , it is judged that the toe excavation work needs to be carried out.

5. The open-pit stope slope safety video monitoring system according to claim 4, characterized in that: In S3, the specific method for detecting cracks in the rock area directly above the soil area is as follows: S3-1. When a rock area exists on the slope wall directly above a soil area to be excavated, calculate the area of the rock area. When the width of the rock area completely covers the width of the soil area to be excavated, the effective width used to calculate the area of the rock area is the same as the width of the soil area to be excavated, and the effective length used to calculate the area of the rock area only needs to consider the rock area within the distance from the upper edge of the soil area, and the effective rock area is calculated ; S3-2. Identify the rock fractures on the effective rock area, and calculate the excavable depth according to the number of fractures within the area of the effective rock area and the length of each fracture for calculation of the excavable depth.

6. The open-pit stope slope safety video monitoring system according to claim 5, characterized in that: In S3-2, the specific method for calculating the available excavation depth is as follows: According to the slope height and the slope angle data at each position collected in the 3D slope model in S1, the tangent value of the soil area to be excavated under the section of the 3D slope model is obtained. and the slope height , the maximum excavable depth is obtained , where is the conversion coefficient of the excavable depth and the slope angle. The excavable depth is set according to the crack complexity in S3-2, that is, the excavable depth , where is the influence coefficient of the length of the cracks in the rock area on the excavable depth.

7. An open-pit stope slope safety video monitoring system according to claim 6, characterized in that: In S4, the specific method for detecting the displacement of the characteristic points is as follows: S4-1. Use an image scanning device to take pictures of the rock area above the foot of the slope before excavation, apply a feature point detection algorithm to extract the feature points in the rock area, mark the identified feature points, and record the coordinate information of each feature point in the three-dimensional slope model. S4-2. Capture the video stream of the rock area in real time through a camera, regularly extract image frames for processing, calculate the displacement of each feature point between consecutive frames, analyze the displacement situation of the rock area according to the movement trajectory of the feature points to correct the available excavation depth. Once it is detected that the displacement of the feature points exceeds the safety threshold, immediately warn the construction personnel to stop excavation.

8. The safety video monitoring system for the open-pit stope slope according to claim 7, wherein: In S4-2, the specific method for correcting the diggable depth according to the displacement is as follows: when the displacement of the feature point is detected each time, the diggable depth is reduced by a fixed ratio, that is, the adjusted becomes , where is the percentage coefficient of reduction.

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