Radar monitoring and early warning method for slope stability of strip mine

Abstract

The invention discloses a strip mine slope stability radar monitoring and early warning method, relates to the technical field of geological disaster monitoring and early warning, and is used for solving the problems that existing slope radar monitoring is greatly influenced by electromagnetic interference, and accurate and stable real-time early warning is difficult to realize. The method comprises the following steps: measuring echo intensity, calculating initial reflectivity, dynamically adjusting a radar arrangement position according to required echo intensity, setting multiple periods of time to send radar signals with different frequencies after position information is updated, simultaneously monitoring the number of wireless equipment and power supply fluctuation in an area, extracting a voltage peak by using the power fluctuation of the wireless equipment, and calculating the initial reflectivity according to the extracted voltage peak. And the electromagnetic interference intensity is comprehensively analyzed in combination with the number of devices, reflection change scores are integrated based on multi-frequency echo signals, standard radar echoes are screened according to the scores to calculate the current reflectivity, and the current reflectivity is compared with the initial reflectivity to judge whether to give an alarm or not, so that the real-time performance and reliability of slope instability early warning are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological disaster monitoring and early warning. More specifically, the present invention relates to a radar monitoring and early warning method for the stability of open-pit mine slopes. Background Art

[0002] With the increasing complexity of the open-pit mine slope structure and the frequent occurrence of slope instability events, radar-based long-distance non-contact monitoring means have been widely used in the on-line detection of slope displacement and stability status. Among them, the echo intensity of radar waves, as an important reflection index of the dielectric property change and micro-displacement change on the slope surface, its accurate acquisition and interference suppression have become the key factors to ensure the monitoring accuracy and stability.

[0003] The existing technologies have the following deficiencies:

[0004] At present, the existing slope radar monitoring is greatly affected by electromagnetic interference, has a high reflectivity calculation error, and lacks a multi-frequency fusion and interference modeling mechanism, making it difficult to achieve accurate and stable real-time early warning. Therefore, a radar monitoring and early warning method for the stability of open-pit mine slopes is proposed.

[0005] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure. Therefore, it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] In order to overcome the above defects of the prior art, the embodiments of the present invention provide a radar monitoring and early warning method for the stability of open-pit mine slopes, which solves the problems raised in the above background art by introducing a radio interference identification mechanism, constructing a multi-frequency echo interference scoring model, and optimizing the echo data screening strategy.

[0007] To achieve the above object, the present invention provides the following technical solution. A radar monitoring and early warning method for the stability of open-pit mine slopes includes S1: obtaining the position information of the radar and the mine side to be measured and generating a monitoring distance, measuring the echo intensity of the radar signal of the mine side to be measured and calculating the initial reflectivity of the slope surface, and comparing the monitoring distance between the radar and the mine side to be measured and the measurement result of the radar signal echo intensity with the required echo intensity to update the radar position information;

[0008] S2: After updating the radar position information, set multiple time periods, select radar signals of different frequencies to transmit and receive radar signal echoes to the mine side position within each time period. At the same time, detect the number of wireless devices within the range of the radar and the mine side to be measured and the power fluctuations of each wireless device within each time period;

[0009] S3: Retrieve voltage spikes using the power fluctuations of the wireless device, comprehensively analyze the intensity of environmental electromagnetic interference in each time period based on the number of wireless devices and voltage spikes, and integrate and score the reflection change interference in each time period by combining the radar signal echoes received at different frequencies;

[0010] S4: Screen out the standard radar signal echoes according to the integrated scores corresponding to each time period, calculate the current slope surface reflectivity using the standard radar signal echoes, compare it with the initial slope surface reflectivity, and determine whether to perform an alarm process based on the comparison result.

[0011] In a preferred embodiment, obtain the three-dimensional coordinates of the radar antenna and the three-dimensional coordinates of the target point to be measured, calculate the monitoring distance based on the Euclidean distance formula by constructing the spatial coordinates between the radar antenna and the slope target point;

[0012] Measure the radar signal echo intensity of the ore slope to be measured to obtain the radar signal echo intensity of the current monitoring point. By transmitting electromagnetic wave signals to the slope target area and receiving the echo response of the electromagnetic wave signals on the surface of the monitoring point, obtain the initial slope surface reflectivity;

[0013] Compare the radar signal echo intensity of the current monitoring point with the required echo intensity. If the radar signal echo intensity of the current monitoring point is greater than or equal to the required echo intensity, it is determined that the current radar installation position meets the monitoring requirements and no adjustment is required. Continue to execute the monitoring task with the current observation configuration. If the radar signal echo intensity of the current monitoring point is less than the required echo intensity, trigger the radar position information update mechanism.

[0014] In a preferred embodiment, combine the target area reflectivity, system transmit power, and target intensity to inversely solve the minimum monitoring distance that meets the monitoring conditions;

[0015] Compare the minimum monitoring distance with the monitoring distance. If the monitoring distance is greater than the minimum monitoring distance, adjust the position of the radar antenna through short-distance displacement, and repeatedly iterate to measure the current echo intensity and update the comparison between the monitoring distance and the minimum monitoring distance until the monitoring distance is less than the minimum monitoring distance.

[0016] In a preferred embodiment, when the monitoring distance is less than the minimum monitoring distance, determine the current radar position information and set multiple time periods;

[0017] By sequentially adjusting the transmit frequency parameters of the radar in each time period, transmit electromagnetic wave signals of corresponding frequencies to the target slope area, and the receiving component synchronously receives the echo response. Segmentally mark, perform time-domain sampling, and intensity demodulation on the echo signals according to the frequency identification to obtain the radar signal echoes received at different frequencies.

[0018] In a preferred embodiment, a wireless signal scanning unit is deployed in the radar to monitor broadcast signals in a predetermined frequency band at a predetermined period in the mine edge area to be tested, and the number of independent device identifiers is counted to obtain the number of wireless devices;

[0019] During the wireless signal monitoring process, the transmission power change curve of the corresponding device broadcast signal is collected, combined with the data of the received signal strength indication changing over time recorded by the receiving end, the power stability parameters of the device in each time period are extracted, and the power fluctuation of each wireless device is obtained.

[0020] In a preferred embodiment, the voltage spike is obtained by calculating the difference between the received signal strength indication value of the device in a set time period and the received signal strength indication value of the previous set time period, taking the absolute value, and comparing it with a preset discrimination threshold, retaining the instantaneous received signal strength indication change value greater than or equal to the discrimination coefficient;

[0021] The number of wireless devices and voltage spikes are standardized and substituted into the comprehensive evaluation model of environmental electromagnetic interference intensity to obtain the environmental electromagnetic interference intensity coefficient in each time period;

[0022] The comprehensive assessment model of environmental electromagnetic interference intensity is obtained based on the logistic regression algorithm.

[0023] In a preferred embodiment, the environmental electromagnetic interference intensity coefficient in each time period is standardized with the radar signal echo received at different frequencies, and substituted into the geometric mean method to obtain the reflection change interference integration score in each time period.

[0024] In a preferred embodiment, the reflection change interference integration score of each time period is compared with a preset integration threshold. If the reflection change interference integration score of the current time period is greater than or equal to the integration threshold, the radar signal echo in the current time period is less affected by the environmental electromagnetic interference. If the reflection change interference integration score of the current time period is less than the integration threshold, the radar signal echo in the current time period is significantly affected by the interference, and the corresponding radar data is removed.

[0025] The radar echo intensity data under the frequency channel corresponding to the reflection change interference integration score in the current time period that is greater than or equal to the integration threshold is used to form a standard radar signal echo set.

[0026] In a preferred embodiment, the current slope surface reflectivity is obtained by using a single-station radar echo formula between the standard radar signal echo power and the slope surface reflectivity;

[0027] Subtract the current slope surface reflectivity from the initial slope surface reflectivity, take the absolute value to obtain the change in reflectivity, and compare the change in reflectivity with a preset warning threshold for reflectivity change. If the change in reflectivity is greater than or equal to the warning threshold for reflectivity change, an alarm is triggered; if the change in reflectivity is less than the warning threshold for reflectivity change, no alarm is triggered.

[0028] Technical effects and advantages of the present invention:

[0029] 1. The present invention obtains the position information between the radar and the ore side to be measured and generates a monitoring distance, measures the echo intensity of the radar signal to calculate the initial reflectivity, and dynamically adjusts the radar layout position according to the required echo intensity. After updating the position information, different frequency radar signals are sent at multiple time intervals, while monitoring the number of wireless devices and power fluctuations in the monitoring area. Then, voltage spikes are extracted using the power fluctuations of the wireless devices and combined with the number of devices to comprehensively analyze the electromagnetic interference intensity. Based on the integrated reflection change score of the multi-frequency echo signals, the current reflectivity is calculated according to the radar echo based on the score screening criteria and compared with the initial reflectivity to determine whether to give an alarm, improving the anti-interference ability of the radar echo signal in a complex mining area environment, enhancing the accuracy and stability of slope reflectivity evaluation, and significantly improving the real-time performance and reliability of slope instability warning. Description of the Drawings

[0030] Figure 1 It is a method step diagram of the radar monitoring and warning method for the slope stability of open-pit mines of the present invention. Detailed Embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1

[0033] Please refer to Figure 1 , the radar monitoring and warning method for the slope stability of open-pit mines, and the specific operation process is as follows:

[0034] S1: Obtain the position information between the radar and the ore side to be measured and generate a monitoring distance, measure the echo intensity of the radar signal of the ore side to be measured and calculate the initial slope surface reflectivity, and update the radar position information according to the monitoring distance between the radar and the ore side to be measured and the measurement results of the radar signal echo intensity and the required echo intensity;

[0035] Among them, the monitoring distance refers to the spatial distance between the radar antenna and any point on the surface of the slope to be measured, which is a function of the radar reflection wave path length. This distance can be used to judge the displacement change trend of each point on the slope;

[0036] Obtain the three-dimensional coordinates of the radar antenna and the three-dimensional coordinates of the target point to be measured. By constructing the spatial coordinates between the radar antenna and the slope target point, the monitoring distance is calculated according to the Euclidean distance formula;

[0037] For the three-dimensional coordinates of the radar antenna, a GNSS+IMU system is adopted. Specifically, the GNSS+IMU system is a high-precision integrated navigation system integrating multi-band GNSS modules and triaxial inertial measurement units. Optionally, it can be obtained through an RTK high-precision differential GPS system. For the three-dimensional coordinates of the target point to be measured, three-dimensional laser scanning is used to perform point cloud modeling on the slope. Specifically, three-dimensional laser scanning is a high-precision ground station laser scanning device based on the time-of-flight principle or an airborne lidar system carried on an unmanned aerial vehicle platform. Optionally, the coordinates are uniformly projected onto a preset unified mining area measurement coordinate system, which will not be elaborated here;

[0038] Furthermore, the Euclidean distance formula is expressed as:

[0039] ;

[0040] In the formula, is the spatial coordinate of the i-th monitoring point in the unified coordinate system, is the three-dimensional coordinate of the radar antenna;

[0041] Measure the radar signal echo intensity of the radar echo on the slope to be measured to obtain the radar signal echo intensity of the current monitoring point;

[0042] Among them, the methods for measuring the radar signal echo intensity include various methods such as the amplitude analysis function of the supporting signal processing unit and the amplitude-frequency analysis of the externally connected signal acquisition module. The experimenters determine the measurement method according to the model parameters of the radar and the reflection characteristics of the monitoring target area to meet the requirements of data accuracy and timeliness, which will not be elaborated here;

[0043] It should be noted that the setting of the monitoring points is obtained by the experimenters based on the geometric feature distribution of the slope and the results of historical stability risk assessment, which will not be elaborated here;

[0044] The initial slope surface reflectivity is obtained by measuring the radar signal echo intensity of the slope to be measured and performing inversion calculation in combination with parameters such as radar transmission power, propagation path loss, and receiving gain. Its acquisition logic is to transmit an electromagnetic wave signal to the slope target area and receive the echo response of the electromagnetic wave signal on the surface of the monitoring point. The initial slope surface reflectivity is obtained according to the radar equation;

[0045] Specifically, the radar equation expression is as follows:

[0046] ;

[0047] In the formula, is the power of the radar transmitting end, is the echo power received by the receiving end, is the propagation distance, is the radar wavelength, and are the antenna gains, is the initial slope surface reflectivity, is the equivalent illumination area where the echo signal acts on the target area;

[0048] It should be noted that for some parameters such as the antenna gain, wavelength, and specific values or value ranges of the illumination area, they may vary depending on different models of radar equipment or application scenarios, which belong to the optional items at the technical implementation level. Their values can be determined by the experimenters according to the actual geometric characteristic parameters of the slope and will not be elaborated here;

[0049] Compare the radar signal echo intensity at the current monitoring point with the required echo intensity. If the radar signal echo intensity at the current monitoring point is greater than or equal to the required echo intensity, it is determined that the current radar installation position meets the monitoring requirements and no adjustment is needed. Continue to execute the monitoring task with the current observation configuration. If the radar signal echo intensity at the current monitoring point is less than the required echo intensity, trigger the radar position information update mechanism;

[0050] Specifically, the required echo intensity is preset by the experimenters based on the analysis results of the slope reflectivity characteristics and the design parameters of the monitoring system signal-to-noise ratio tolerance. Further, triggering the radar position information update mechanism automatically generates new position information for adjusting the radar antenna according to the current echo intensity deviation degree and the inverse solution of the optimal monitoring distance parameter, which will not be elaborated here;

[0051] The implementation steps for triggering the radar position information update mechanism are as follows:

[0052] Based on the radar equation, combined with the target area reflectivity, system transmit power, and target intensity, inversely solve to obtain the minimum monitoring distance that meets the monitoring conditions. The specific formula expression is:

[0053] ;

[0054] In the formula, is the minimum monitoring distance;

[0055] Compare the minimum monitoring distance with the monitoring distance. If the monitoring distance is greater than the minimum monitoring distance, adjust the radar antenna position through short-distance displacement to reduce the propagation loss;

[0056] Furthermore, after the radar position is moved, the current echo strength is remeasured and updated. If the monitoring distance is still greater than the minimum monitoring distance, the next step of optimization is continued until the monitoring distance is less than the minimum monitoring distance.

[0057] Optionally, in a dynamic slope environment, the system can introduce an automatic position adjustment algorithm based on an optimization model (such as gradient descent or Monte Carlo sampling) to improve deployment efficiency and monitoring coverage;

[0058] It should be noted that the range and method of movement of the radar position are affected by factors such as the terrain conditions of the mining area, the radar installation structure, and power supply and communication limitations. The specific implementation method can be determined by technicians in the field of the present invention based on the on-site working condition assessment report and equipment operation and maintenance requirements, and will not be elaborated here;

[0059] S2: After updating the radar location information, multiple time periods are set. In each time period, radar signals of different frequencies are selected to transmit to the mine edge and receive radar signal echoes. At the same time, the number of wireless devices within the range of the radar and the mine edge to be tested and the power supply fluctuations of each wireless device are detected in each time period.

[0060] When the monitoring distance is less than the minimum monitoring distance, determine the current radar position information and set multiple time periods;

[0061] Specifically, the current radar position information is the radar position obtained when the monitoring distance is less than the minimum monitoring distance, which will not be described in detail here;

[0062] Among them, the setting of multiple time periods is obtained from the analysis results of slope displacement evolution characteristics of our experimenters and the minimum detectable change period of the radar monitoring system, which will not be elaborated here;

[0063] In each time period, radar signals of different frequencies are selected to be transmitted to the mine edge and radar signal echoes are received to obtain radar signal echoes received at different frequencies. The acquisition logic is to sequentially adjust the radar transmission frequency parameters in each time period, transmit electromagnetic wave signals of corresponding frequencies to the target slope area, and receive the echo response synchronously by the receiving component. The echo signal is segmented, time-domain sampled and intensity demodulated according to the frequency identifier to obtain radar signal echoes received at different frequencies.

[0064] The receiving component is a broadband signal receiving module integrated in the radar system, which includes a high-sensitivity low-noise amplifier, a frequency selective filter and a high-speed analog-to-digital conversion unit. The segmentation marking, time-domain sampling and intensity demodulation of the echo signal are performed by calling the preset multi-frequency channel data separation algorithm and the time-domain window function sampling mechanism, and the echo intensity threshold judgment model is used to complete the amplitude extraction and frequency corresponding identification of the echo signal.

[0065] Furthermore, the frequency channel data separation algorithm and the time-domain window function sampling mechanism are common knowledge to those skilled in the art and will not be elaborated herein.

[0066] Meanwhile, within each time period, detect the number of wireless devices between the radar and the range of the ore side to be measured, as well as the power fluctuations of each wireless device.

[0067] The acquisition logic of the number of wireless devices is to use the wireless signal scanning unit deployed in the radar to listen for broadcast signals in the area of the ore side to be measured within a preset period in a set frequency band range, and count the number of independent device identifiers above the effective received power threshold to obtain the number of wireless devices.

[0068] Among them, the preset period is obtained by the experimenter based on the statistical distribution law of radio interference and the analysis results of the typical slope monitoring interference duration range. The set frequency band range covers the working frequency bands of common wireless communication devices, including but not limited to communication bands such as 2.4 GHz, 5 GHz, LoRa, and NB-IoT.

[0069] Furthermore, the effective received power threshold is obtained by the experimenter based on the system reception sensitivity and the signal discrimination confidence model and will not be elaborated herein.

[0070] The acquisition logic of the power fluctuations of each wireless device is to collect the emission power change curve of the corresponding device's broadcast signal during the wireless signal listening process, combine the data of the received signal strength indication changing with time recorded by the receiving end, extract the power stability parameters of the device within each time period, and construct a signal strength fluctuation model to obtain the power fluctuations of each wireless device.

[0071] Among them, the corresponding device's broadcast signal is the device corresponding to the number of wireless devices mentioned in the above embodiment. The received signal strength indication is the RSSI value obtained in real time by the receiving end when receiving the corresponding device's broadcast signal, which is used to characterize the signal strength level of the current broadcast signal at the receiving location. The length of each set time period is not limited and will not be elaborated herein.

[0072] Furthermore, the signal strength fluctuation model is a mathematical analysis model constructed based on the deviation amplitude, standard deviation, and correlation coefficient of the device emission power change curve and the RSSI change curve within a set time period, expressed as:

[0073] ;

[0074] In the formula, is the signal strength fluctuation of the th wireless device, is the RSSI value of the th device at the th sampling moment, is the average RSSI of the th device in the current time period;

[0075] S3: Retrieve voltage spikes using the power fluctuations of wireless devices, comprehensively analyze the intensity of environmental electromagnetic interference in each time period based on the number of wireless devices and voltage spikes, and integrate and score the reflection change interference in each time period by combining the radar signal echoes received at different frequencies;

[0076] Retrieve voltage spikes using the signal intensity fluctuations obtained from the signal intensity fluctuation model. Its acquisition logic is to calculate the difference between the received signal strength indication value of the device in the set time period and its received signal strength indication value in the previous set time period, take the absolute value, and compare it with the preset discrimination threshold, and retain the instantaneous received signal strength indication change value greater than or equal to the discrimination coefficient to obtain the voltage spike;

[0077] Among them, the calculation formula for calculating the difference between the received signal strength indication value of the device in the set time period and its received signal strength indication value in the previous set time period and taking the absolute value is as follows:

[0078] ;

[0079] In the formula, is the instantaneous received signal strength indication change value, is the received signal strength indication value in the set time period, is the received signal strength indication value in the previous set time period;

[0080] The discrimination logic is as follows:

[0081] Compare the instantaneous received signal strength indication change value with the discrimination threshold. If the instantaneous received signal strength indication change value is greater than or equal to the discrimination threshold, it is recorded as a voltage spike. If the instantaneous received signal strength indication change value is less than the discrimination threshold, the current instantaneous received signal strength indication change value is not recorded;

[0082] It should be noted that the discrimination threshold is obtained by the experimenter based on the results of the power fluctuation sensitivity analysis of wireless devices and the characteristics of historical electromagnetic interference test data, which will not be elaborated here;

[0083] Standardize the number of wireless devices and voltage spikes, substitute them into the comprehensive evaluation model of environmental electromagnetic interference intensity, and obtain the environmental electromagnetic interference intensity coefficient in each time period;

[0084] It should be noted that the methods of standardization include but are not limited to standard linear transformation based on interval scaling, Z-Score standardization method based on statistics, or normalization method based on non-linear mapping function. The application methods of standardization will not be elaborated here;

[0085] Specifically, the comprehensive evaluation model of environmental electromagnetic interference intensity is obtained based on the logistic regression algorithm, and the specific formula is expressed as:

[0086] ;

[0087] In the formula, is the result of logistic regression calculation, that is, the environmental electromagnetic interference intensity coefficient in each time period. e is the natural base, and y is the linear combination term of the logistic regression model. Specifically, y is set as:

[0088] ;

[0089] In the formula, is the bias term, is the number of wireless devices in the th time period after standardization, is the voltage spike in the th time period after standardization, and are the regression coefficients of the number of wireless devices and the voltage spike respectively;

[0090] Standardize the environmental electromagnetic interference intensity coefficients in each time period and the radar signal echoes received at different frequencies, and substitute them into the geometric mean method to obtain the integrated score of reflection change interference in each time period;

[0091] Specifically, the standardization process has been described above and will not be elaborated here;

[0092] Among them, the geometric mean method is common knowledge for those skilled in the art. Its basic calculation logic is to take the nth root of the product of several positive numbers, which is used to measure the balance or comprehensive influence effect of multiple variables. The specific formula is as follows:

[0093] ;

[0094] In the formula, is the integrated score of reflection change interference in the th time period, is the environmental electromagnetic interference intensity coefficient in the th time period after standardization, is the intensity of the radar echo signal received in the th time period in the th frequency channel, and the value after standardization, is the set number of frequency channels;

[0095] It should be noted that the number of frequency channels is determined by the experimenter based on the multi-frequency parallel ability of the radar system and the analysis results of the surface frequency response characteristics of the slope target, which will not be elaborated here;

[0096] S4: Screen out the standard radar signal echoes according to the integrated scores corresponding to each time period, calculate the current slope surface reflectivity using the standard radar signal echoes, compare it with the initial slope surface reflectivity, and determine whether to perform an alarm process according to the comparison result;

[0097] Compare the integrated scores of the reflection change interference in each time period with the preset integration threshold. If the integrated score of the reflection change interference in the current time period is greater than or equal to the integration threshold, the radar signal echo in the current time period is less affected by environmental electromagnetic interference. If the integrated score of the reflection change interference in the current time period is less than the integration threshold, the radar signal echo in the current time period is significantly affected by interference, and the corresponding radar data is excluded;

[0098] It should be noted that the integration threshold is set by the experimenter based on the statistical analysis results of historical slope radar monitoring data and the on-site electromagnetic noise background modeling results, which will not be elaborated here;

[0099] The radar echo intensity data in the frequency channels corresponding to the integrated scores of the reflection change interference in the current time period that are greater than or equal to the integration threshold constitute the standard radar signal echo set;

[0100] The process of calculating the current slope surface reflectivity using the standard radar signal echoes follows the theory of radar ranging and echo power inversion of electromagnetic waves. Combining the above-known radar parameters, transmission power, and environmental conditions, by calculating the energy intensity of the reflected echo of unit energy, the reflection ability of the slope surface to the incident wave is deduced. The specific steps are as follows:

[0101] The current slope surface reflectivity is obtained through the single-station radar echo formula between the standard radar signal echo power and the slope surface reflectivity;

[0102] Specifically, the single-station radar echo formula is:

[0103] ;

[0104] In the formula, is the standard radar signal echo intensity, is the transmission power, is the antenna gain, is the electromagnetic wave wavelength, is the radar cross section of the target, is the distance from the radar to the target, is the loss factor;

[0105] The radar cross section, expressed as the scattering ability per unit area multiplied by the reflectivity, i.e.:

[0106] ;

[0107] In the formula, is the current reflectivity of the slope surface, is the equivalent reflection area when the radar wave irradiates the slope;

[0108] Subtract the current reflectivity of the slope surface from the initial reflectivity of the slope surface, calculate the absolute value, and obtain the change in reflectivity. Compare the change in reflectivity with the preset warning threshold for reflectivity change. If the change in reflectivity is greater than or equal to the warning threshold for reflectivity change, an alarm is triggered. If the change in reflectivity is less than the warning threshold for reflectivity change, no alarm is triggered;

[0109] Among them, the warning threshold for reflectivity change is obtained through comprehensive analysis of the minimum recognizable reflectivity change ability of the radar system and the statistical distribution of the reflectivity fluctuation range under the historical slope stable state, which will not be elaborated here;

[0110] Specifically, the way to trigger the alarm can be to push the slope anomaly signal to the monitoring platform or the upper computer system, synchronize the alarm information through the network interface, or send a control instruction to the on-site execution terminal of the slope, such as starting strategies such as auxiliary radar or camera enhancement recognition, which will not be elaborated here;

[0111] The above formulas are all dimensionless and take their numerical calculations. The formula is obtained by collecting a large amount of data for software simulation to get a formula closest to the real situation. The preset parameters in the formula are set by those skilled in the art according to the actual situation.

[0112] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that contains one or more sets of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0113] It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0114] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0115] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0116] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0117] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0119] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0120] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A radar monitoring and early warning method for the slope stability of open-pit mines, characterized in that: Including: S1: Obtain the position information between the radar and the ore edge to be measured and generate a monitoring distance, measure the radar signal echo intensity of the ore edge to be measured and calculate the initial slope surface reflectivity, and compare the monitoring distance between the radar and the ore edge to be measured, as well as the radar signal echo intensity measurement result with the required echo intensity to update the radar position information; S2: After updating the radar position information, set multiple time periods, select radar signals with different frequencies to transmit and receive radar signal echoes to the ore edge position within each time period. At the same time, detect the number of wireless devices within the range of the radar and the ore edge to be measured and the power fluctuations of each wireless device within each time period; S3: Use the power fluctuations of wireless devices to retrieve voltage spikes, comprehensively analyze the intensity of environmental electromagnetic interference within each time period based on the number of wireless devices and voltage spikes, and integrate and score the reflection change interference within each time period in combination with the radar signal echoes received at different frequencies; S4: Screen out the standard radar signal echo according to the integrated score corresponding to each time period, use the standard radar signal echo to calculate the current slope surface reflectivity, compare it with the initial slope surface reflectivity, and determine whether to perform an alarm process according to the comparison result.

2. The radar monitoring and early warning method for the slope stability of open-pit mines according to claim 1, wherein: Obtain the three-dimensional coordinates of the radar antenna and the three-dimensional coordinates of the target point to be measured. By constructing the spatial coordinates between the radar antenna and the slope target point, calculate the monitoring distance according to the Euclidean distance formula; Measure the radar signal echo intensity of the ore edge to be measured to obtain the radar signal echo intensity at the current monitoring point. By transmitting an electromagnetic wave signal to the slope target area and receiving the echo response of the surface of the monitoring point to the electromagnetic wave signal, obtain the initial slope surface reflectivity; Compare the radar signal echo intensity at the current monitoring point with the required echo intensity. If the radar signal echo intensity at the current monitoring point is greater than or equal to the required echo intensity, it is determined that the current radar installation position meets the monitoring requirements and no adjustment is required. Continue to execute the monitoring task with the current observation configuration. If the radar signal echo intensity at the current monitoring point is less than the required echo intensity, trigger the radar position information update mechanism.

3. The open-pit mine slope stability radar monitoring and early warning method according to claim 2, characterized in that: Combined with the target area reflectivity, system transmission power and target intensity, inversely solve to obtain the minimum monitoring distance that meets the monitoring conditions; Compare the minimum monitoring distance with the monitoring distance. If the monitoring distance is greater than the minimum monitoring distance, adjust the radar antenna position through short-distance displacement, and repeatedly iterate to measure the current echo intensity and update the comparison between the monitoring distance and the minimum monitoring distance until the monitoring distance is less than the minimum monitoring distance.

4. The open-pit mine slope stability radar monitoring and early warning method according to claim 3, characterized in that: When the monitoring distance is less than the minimum monitoring distance, determine the current radar position information and set multiple time periods; By sequentially adjusting the radar transmission frequency parameters within each time period, transmit electromagnetic wave signals with corresponding frequencies to the target slope area, and the receiving component synchronously receives the echo response. Segment and mark the echo signal, perform time-domain sampling and intensity demodulation according to the frequency identifier to obtain the radar signal echoes received at different frequencies.

5. The open-pit mine slope stability radar monitoring and early warning method according to claim 1, characterized in that: Through the wireless signal scanning unit deployed in the radar, perform broadcast signal monitoring on the ore edge area to be measured within the preset frequency band range at a preset cycle, and count the number of independent device identifiers to obtain the number of wireless devices; During the wireless signal monitoring process, collect the emission power change curve of the broadcast signal of the corresponding device, combine the data of the received signal strength indication recorded at the receiving end over time, extract the power stability parameters of the device in each time period, and obtain the power fluctuations of each wireless device.

6. The open-pit mine slope stability radar monitoring and early warning method according to claim 5, characterized in that: By calculating the difference between the received signal strength indication value of the device in the set time period and the received signal strength indication value of the previous set time period, taking the absolute value, and comparing it with the preset discrimination threshold, retain the instantaneous received signal strength indication change value greater than or equal to the discrimination coefficient to obtain the voltage spike. Normalize the number of wireless devices and the voltage spike, and substitute them into the comprehensive evaluation model of environmental electromagnetic interference intensity to obtain the environmental electromagnetic interference intensity coefficient in each time period. The comprehensive evaluation model of environmental electromagnetic interference intensity is obtained based on the logistic regression algorithm.

7. The open-pit mine slope stability radar monitoring and early warning method according to claim 6, characterized in that: Normalize the environmental electromagnetic interference intensity coefficient in each time period and the radar signal echo received at different frequencies, and substitute them into the geometric mean method to obtain the integrated score of the reflection change interference in each time period.

8. The open-pit mine slope stability radar monitoring and early warning method according to claim 7, characterized in that: Compare the integrated score of the reflection change interference in each time period with the preset integration threshold. If the integrated score of the reflection change interference in the current time period is greater than or equal to the integration threshold, the radar signal echo in the current time period is less affected by environmental electromagnetic interference. If the integrated score of the reflection change interference in the current time period is less than the integration threshold, the radar signal echo in the current time period is significantly affected by interference, and the corresponding radar data is excluded. The radar echo intensity data in the frequency channel corresponding to the integrated score of the reflection change interference in the current time period greater than or equal to the integration threshold constitutes the standard radar signal echo set.

9. The method for radar monitoring and early warning of the slope stability of an open-pit mine according to claim 8, wherein: The current slope surface reflectivity is obtained through the single-station radar echo formula between the standard radar signal echo power and the slope surface reflectivity. Subtract the current slope surface reflectivity from the initial slope surface reflectivity, take the absolute value to obtain the reflectivity change amount, and compare the reflectivity change amount with the preset reflectivity change warning threshold. If the reflectivity change amount is greater than or equal to the reflectivity change warning threshold, an alarm is triggered. If the reflectivity change amount is less than the reflectivity change warning threshold, no alarm is triggered.

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