An open-pit stope slope safety video monitoring system

Abstract

The present invention discloses an open-pit stope slope safety video monitoring system, which relates to the technical field of image analysis. 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, so as 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. The present invention has the characteristic of real-time analysis.

Description

Technical Field

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

[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, the soil will soften due to reasons such as rainwater immersion during the mining process. The softened soil lacks sufficient supporting force, which may cause the problem of hole collapse due to vibration when the perforating equipment performs perforating operations.

[0003] In the prior art, it is often only prohibited to manually excavate the toe of the slope, and only reinforcement is carried out outside the toe. The seismic effect is poor, or the investigation and judgment of whether to excavate the toe are carried out manually by engineering personnel, which requires a large amount of time and manpower and is highly subjective, lacking a unified judgment standard. Therefore, it is 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 art.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: 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 and size of cracks in the slope rock formation by real-time image detection of the slope, and to count the displacement of the upper feature points 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, 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 based on 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;

[0007] 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;

[0008] The analysis and judgment module includes a moisture content calculation module, a displacement judgment module, a diggable 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 diggable 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 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 counts the displacements of each feature point on the rock region during excavation. The diggable depth calculation module is used to calculate the diggable 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 which regions can be excavated and to remind them of the correction of the diggable depth. The real-time correction module is used to correct the diggable depth based on the displacement data of the feature points in the rock region.

[0009] According to the above technical solution, the working method of the system is as follows:

[0010] S1. After the slope in the open-pit mine is mined and formed, 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;

[0011] 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;

[0012] S3. When it is determined that the moisture content is too high and there is a risk of hole collapse during perforation operation above the soil area of the current toe of the slope, toe excavation work is required. At this time, crack detection is carried out on the rock area directly above the soil area, and the available excavation depth is calculated.

[0013] 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 real-time detect the displacement of the characteristic points above during the excavation process, and correct the available excavation depth according to the displacement situation.

[0014] 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 , 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 of a certain soil area at these two time points and ;

[0015] 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 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 determined that the moisture content is greater than the set value , it is determined that toe excavation work is required.

[0016] 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:

[0017] S3-1. When it is identified 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 area of the effective rock area is calculated. ;

[0018] S3-2. Identify the rock fractures on the effective rock area. Since the more and more complex the fractures of the rock are, the more likely it is to collapse during excavation, and the deeper the excavation is, the more prominent the umbrella rock will be, resulting in a greater risk of collapse. Therefore, according to the number of fractures and the length of each fracture within the area of the effective rock area, calculate the depth that can be excavated.

[0019] According to the above technical solution, in S3-2, the specific method for calculating the depth that can be excavated is as follows:

[0020] Based on the slope height and the slope angle data at each position collected in the slope three-dimensional model in S1, obtain the tangent value of the soil area to be excavated under the section of the slope three-dimensional 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 of S3-2, that is, the depth that can be excavated , where is the influence coefficient of the length of the fractures in the rock area on the depth that can be excavated.

[0021] According to the above technical solution, in S4, the specific method for detecting the displacement of the characteristic points is as follows:

[0022] 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 the characteristic point detection algorithm to extract the characteristic points in the rock area, mark the identified characteristic points, and record the coordinate information of each characteristic point in the slope three-dimensional model;

[0023] 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 characteristic point between consecutive frames, analyze the displacement of the rock area according to the movement trajectory of the characteristic points to correct the depth that can be excavated. Once it is detected that the displacement of the characteristic point exceeds the safety threshold, immediately warn the construction personnel to stop excavation.

[0024] 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 characteristic point 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, and then the number of fractures and the lengths of each crack Re - conduct the detection. If a change is detected, then double the value of the [[value]] and continue to adjust it.

[0025] 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 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 slope toe at each position is obtained. When it is judged that there is a potential hazard of collapse during the perforation operation, the number of cracks and the lengths of the cracks in the rock formation above it are detected and analyzed, and the depth of excavation 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 of excavation 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. Brief Description of the Drawings

[0026] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0027] Figure 1 is the overall module structure schematic diagram of the present invention. Detailed Embodiments

[0028] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the scope of protection of the present invention.

[0029] 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 of excavation of the slope toe, and to guide whether excavation is required and the depth of excavation;

[0030] 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;

[0031] 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 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 statistically analyze 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 on the rock region above the toe of the slope before excavation;

[0032] 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 based on the thermal inertia of the soil region to obtain the softening degree. The displacement judgment module statistically analyzes 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 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 based on the feature point displacement data of the rock region;

[0033] The working method of this system is as follows:

[0034] S1. After the slope of the open-pit mine is formed, use a high-definition camera to collect slope images, generate a 3D model of the slope from the collected images, calculate the height and slope angle of the slope, and identify the soil and rock on the slope wall surface, marking the soil area and the rock area;

[0035] 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 in 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;

[0036] S3. When it is judged that the moisture content is too high, 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;

[0037] S4. Remind the construction personnel of the location and depth to be excavated. Mark the feature points in the rock area above the foot of the slope before excavation, and detect the displacement of the feature points above in real time during the excavation process. Correct the available excavation depth according to the displacement situation;

[0038] In S2, the specific method for calculating the thermal inertia of the soil is as follows:

[0039] S2-1. After the slope is formed, take samples to 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 foot 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 ;

[0040] S2-2. Calculate the ambient temperature difference at 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 foot excavation work is required;

[0041] In S3, the specific method for detecting cracks in the rock area directly above the soil area is as follows:

[0042] S3-1. When it is identified that there is a rock area on the slope wall surface 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 for calculating the area of the rock area is the same as the width of the soil area to be excavated, and the effective length used for calculating 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; ;

[0043] S3-2. Identify the rock cracks on the effective rock area. Since the more and more complex the cracks in the rock are, the more likely it is to collapse during excavation, and the deeper the excavation is, the more prominent the umbrella rock will be, resulting in a greater risk of collapse. Therefore, according to the number of cracks in the effective rock area and the length of each crack, calculate the depth that can be excavated;

[0044] In S3-2, the specific method for calculating the depth that can be excavated is as follows:

[0045] According to the slope height and the slope angle data at each position collected in 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 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 crack complexity in S3-2, that is, the depth that can be excavated , where is the influence coefficient of the length of the cracks in the rock area on the depth that can be excavated;

[0046] In S4, the specific method for detecting the displacement of characteristic points is as follows:

[0047] 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 the characteristic point detection algorithm to extract the characteristic points in the rock area, mark the identified characteristic points, and record the coordinate information of each characteristic point in the slope three-dimensional model;

[0048] S4-2. Capture the video stream of the rock area in real time through the 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 trajectories of the feature points to correct the excavable depth. Once it is detected that the displacement of the feature point exceeds the safety threshold, immediately warn the construction workers to stop excavation;

[0049] In S4-2, the specific method for correcting the excavable depth according to the displacement situation is as follows: when the displacement of the feature point is detected each time, the excavable depth is reduced by a fixed ratio, that is, the adjusted becomes , where is the percentage coefficient of reduction. Subsequently, re-detect the number of cracks and the length of each crack . If a change is detected, double the value of

[0050] and continue to adjust. Obtain the thermal inertia of the soil at the toe of the slope by means of remote sensing infrared scanning imaging, calculate the water content of the soil using the thermal inertia, and then obtain the softening degree of the toe of the slope at each position. When it is judged that there is a potential hazard of collapse during the perforation operation, detect and analyze the number and length of cracks in the rock formation above it, and comprehensively judge the excavable depth in combination with the slope height and slope angle. After judging that excavation is required, remind the construction workers to dig out the unstable soil for re-landfilling and reinforcement; and detect the displacement of the feature points above in real time during the excavation process, correct the excavable depth according to the displacement situation, and 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.

[0051] 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 "comprises", "comprising" or any other variant thereof is intended to cover a 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 also includes elements inherent to such process, method, article or device.

[0052] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended 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 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 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 softening degree of the soil at the slope toe and the excavable depth of the slope toe; 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 based on 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 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 count 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 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 based on 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 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 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 displacement data of the characteristic points in the rock region.

2. The open-pit stope slope safety video monitoring system according to claim 1, wherein: 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, marking 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 of the soil area, calculate the thermal inertia of the soil, and analyze the moisture content. S3. When it is judged that the moisture content is too high, 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.

3. The open-pit stope slope safety video monitoring system according to claim 2, characterized in that: 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 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 judged that the water content is greater than the set value , it is judged that the toe excavation work needs to be carried out.

4. The open-pit stope slope safety video monitoring system according to claim 3, 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 surface 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 for calculating the area of the rock area is the same as the width of the soil area to be excavated, and the effective length used for calculating 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.

5. The open-pit stope slope safety video monitoring system according to claim 4, 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 from the three-dimensional slope model in S1, the tangent value of the soil area to be excavated under the cross-section of the three-dimensional slope model is obtained. And the slope height , the maximum excavable depth is obtained , where is the conversion coefficient between 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.

6. The open-pit stope slope safety video monitoring system according to claim 5, wherein: 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 point exceeds the safety threshold, immediately warn the construction personnel to stop excavation.

7. The open-pit stope slope safety video monitoring system according to claim 6, characterized in that: In S4-2, the specific method for correcting the diggable depth according to the displacement situation 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.

Images