Radar monitoring and early warning method for slope stability in open-pit mines

Abstract

The present invention discloses a radar monitoring and early warning method for open-pit mine slope stability, which relates to the technical field of geological disaster monitoring and early warning. It is used to solve the problem that existing slope radar monitoring is greatly affected by electromagnetic interference and is difficult to achieve accurate and stable real-time early warning. By obtaining the position information of the radar and the mine edge to be measured and generating a monitoring distance, the echo intensity is measured to calculate the initial reflectivity, and the radar deployment position is dynamically adjusted according to the required echo intensity. After updating the position information, multiple time periods are set to send radar signals of different frequencies. At the same time, the number of wireless devices and power supply fluctuations in the area are monitored, and the voltage spikes are extracted by using the power fluctuations of the wireless devices. The electromagnetic interference intensity is comprehensively analyzed in combination with the number of devices. The reflection change score is integrated based on the multi-frequency echo signal. The current reflectivity is calculated based on the radar echo according to the score screening standard, and compared with the initial reflectivity to determine whether an alarm is issued, thereby significantly improving the real-time and reliability of the slope instability early warning.

Description

Technical Field

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

[0002] With the increasing complexity of open-pit mine slope structures and the frequent occurrence of slope instability incidents, radar-based long-range, non-contact monitoring is widely used for online detection of slope displacement and stability. The radar echo intensity, a key indicator of changes in the dielectric properties of the slope surface and micro-displacement, is crucial for accurate acquisition and interference suppression, ensuring monitoring accuracy and stability.

[0003] The existing technology has the following deficiencies:

[0004] Currently, existing slope radar monitoring is significantly affected by electromagnetic interference, resulting in high reflectivity calculation errors. Furthermore, it lacks multi-frequency fusion and interference modeling mechanisms, making it difficult to achieve accurate and stable real-time early warning. Therefore, a radar monitoring and early warning method for open-pit mine slope stability was proposed.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

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

[0007] To achieve the above objectives, the present invention provides the following technical solution: a radar monitoring and early warning method for open-pit mine slope stability, comprising: S1: obtaining position information of a radar and a mine edge to be measured and generating a monitoring distance; measuring the radar signal echo intensity of the mine edge to be measured and calculating the initial slope surface reflectivity; and updating the radar position information based on the monitoring distance between the radar and the mine edge to be measured and the radar signal echo intensity measurement result with the required echo intensity;

[0008] 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, as well as the power fluctuations of each wireless device, are detected in each time period.

[0009] S3: Utilizes power fluctuations of wireless devices to search for voltage spikes. The intensity of the environmental electromagnetic interference within each time period is analyzed by combining the number of wireless devices and voltage spikes. The reflection change interference within each time period is integrated and scored by combining radar signal echoes received at different frequencies.

[0010] S4: Filter out the standard radar signal echo based on 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 issue an alarm based on the comparison result.

[0011] In a preferred embodiment, the three-dimensional coordinates of the radar antenna and the three-dimensional coordinates of the target point to be measured are obtained, and the monitoring distance is calculated according to the Euclidean distance formula by constructing the spatial coordinates between the radar antenna and the slope target point;

[0012] The radar signal echo intensity at the mine edge to be measured is measured to obtain the radar signal echo intensity at the current monitoring point. The initial slope surface reflectivity is obtained by transmitting electromagnetic wave signals to the target area of ​​the slope and receiving the echo response of the monitoring point surface to the electromagnetic wave signals.

[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. Maintain the current observation configuration and continue to perform the monitoring task. If the radar signal echo intensity of the current monitoring point is less than the required echo intensity, the radar position information update mechanism is triggered.

[0014] In a preferred embodiment, the minimum monitoring distance that meets the monitoring conditions is obtained by combining the target area reflectivity, the system transmission power and the target intensity;

[0015] The minimum monitoring distance is compared with the monitoring distance. If the monitoring distance is greater than the minimum monitoring distance, the radar antenna position is adjusted through close-range displacement, and the current echo intensity is repeatedly measured and the monitoring distance is updated and compared with 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, the current radar position information is determined and multiple time periods are set;

[0017] By adjusting the radar's transmission frequency parameters in sequence in each time period, electromagnetic wave signals of corresponding frequencies are transmitted to the target slope area, and the receiving component synchronously receives the echo response. The echo signal is segmented, time-domain sampled, and intensity demodulated according to the frequency identifier to obtain the radar signal echo received at different frequencies.

[0018] In a preferred embodiment, a wireless signal scanning unit deployed in the radar monitors broadcast signals in a predetermined frequency band at a predetermined period in the mine edge area to be detected, and counts the number of independent device identifiers 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 to obtain the power fluctuation of each wireless device.

[0020] In a preferred embodiment, the voltage spike is obtained by calculating the difference between the received signal strength indicator value of the device in a set time period and the received signal strength indicator 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 indicator change value that is greater than or equal to the discrimination coefficient;

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

[0022] The comprehensive evaluation 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 normalized with the radar signal echo received at different frequencies, and the geometric mean method is used 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 discarded.

[0025] The radar echo intensity data in 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] The current slope surface reflectivity is subtracted from the initial slope surface reflectivity and the absolute value is taken to obtain the reflectivity change. The reflectivity change is compared with the preset reflectivity change alarm threshold. If the reflectivity change is greater than or equal to the reflectivity change alarm threshold, an alarm is triggered. If the reflectivity change is less than the reflectivity change alarm threshold, no alarm is triggered.

[0028] The technical effects and advantages of the present invention are as follows:

[0029] 1. The present invention obtains the position information of the radar and the mine edge to be measured and generates a monitoring distance, measures the echo intensity to calculate the initial reflectivity, and dynamically adjusts the radar deployment position according to the required echo intensity. After updating the position information, it sets multiple time periods to send radar signals of different frequencies, and simultaneously monitors the number of wireless devices and power supply fluctuations in the area. It then uses the power fluctuations of the wireless devices to extract voltage spikes, and comprehensively analyzes the electromagnetic interference intensity in combination with the number of devices. It also integrates the reflection change score based on the multi-frequency echo signal, calculates the current reflectivity of the radar echo according to the scoring screening standard, and compares it with the initial reflectivity to determine whether to issue an alarm. This improves the anti-interference ability of the radar echo signal in complex mining environments, enhances the accuracy and stability of the slope reflectivity assessment, and significantly improves the real-time and reliability of the slope instability warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a method step diagram of the radar monitoring and early warning method for open-pit mine slope stability of the present invention. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Example 1

[0033] See also Figure 1 , radar monitoring and early warning method for open-pit mine slope stability, the specific operation process is as follows:

[0034] S1: Obtain the position information of the radar and the mine edge to be measured and generate a monitoring distance, measure the radar signal echo intensity of the mine edge to be measured and calculate the initial slope surface reflectivity, and update the radar position information based on the monitoring distance between the radar and the mine edge to be measured and the radar signal echo intensity measurement result and the required echo intensity;

[0035] The monitoring distance refers to the spatial distance between the radar antenna and any point on the slope surface to be measured. It is a function of the path length of the radar reflection wave. This distance can be used to determine the displacement 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, construct the spatial coordinates between the radar antenna and the slope target point, and calculate the monitoring distance according to the Euclidean distance formula;

[0037] The GNSS+IMU system is used for the three-dimensional coordinates of the radar antenna. Specifically, the GNSS+IMU system is a high-precision combined navigation system that integrates a multi-band GNSS module and a three-axis inertial measurement unit. 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 of the slope. Specifically, the three-dimensional laser scanning is a high-precision laser scanning device based on the time-of-flight principle at a ground station or an airborne laser radar system mounted on a drone platform. Optionally, the coordinates are uniformly projected to a preset unified measurement coordinate system for the mining area, which will not be described in detail here.

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

[0039] ;

[0040] Where, 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] The radar signal echo strength at the mine edge to be measured is measured to obtain the radar signal echo strength at the current monitoring point;

[0042] Among them, the ways to measure the radar signal echo intensity include the amplitude analysis function of the supporting signal processing unit, the amplitude-frequency analysis of the external signal acquisition module, and other methods. The experimenters determined the measurement method based on the radar model parameter configuration and the reflection characteristics of the monitoring target area to meet the data accuracy and timeliness requirements, which will not be elaborated here;

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

[0044] The initial slope surface reflectivity is obtained by measuring the radar signal echo intensity at the mine edge to be measured and inverting it based on parameters such as radar transmission power, propagation path loss, and receiving gain. The acquisition logic is to transmit electromagnetic wave signals to the target area of ​​the slope and receive the echo response of the monitoring point surface to the electromagnetic wave signal, and then obtain the initial slope surface reflectivity according to the radar equation.

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

[0046] ;

[0047] Where, is the power of the radar transmitter, is the echo power received by the receiving end, is the propagation distance, is the radar wavelength, and is the antenna gain, is the initial slope surface reflectivity, is the equivalent irradiation area of ​​the echo signal acting on the target area;

[0048] It should be noted that the specific values ​​or ranges of some parameters, such as antenna gain, wavelength, and illumination area, may vary depending on different radar equipment models or application scenarios. These are preferred options at the technical implementation level and can be determined by the experimenters based on the actual geometric characteristic parameters of the slope. They will not be detailed here.

[0049] Compare the radar signal echo strength at the current monitoring point with the required echo strength. If the radar signal echo strength at the current monitoring point is greater than or equal to the required echo strength, the current radar installation position is determined to meet the monitoring requirements and no adjustment is required. The current observation configuration is maintained to continue the monitoring task. If the radar signal echo strength at the current monitoring point is less than the required echo strength, the radar position information update mechanism is triggered.

[0050] Specifically, the required echo intensity was preset by our experimenters based on the slope reflectivity analysis results and the monitoring system's signal-to-noise ratio tolerance design parameters. Furthermore, the triggering mechanism for updating radar position information automatically generates new position information for adjusting the radar antenna based on the current echo intensity deviation and the inversely solved optimal monitoring distance parameters. This will not be detailed here.

[0051] The steps to trigger the radar position information update mechanism are as follows:

[0052] Based on the radar equation, combined with the target area reflectivity, system transmission power and target intensity, the minimum monitoring distance that meets the monitoring conditions is obtained by inverse solution. The specific formula is expressed as:

[0053] ;

[0054] Where, 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 by close displacement to reduce propagation loss.

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

[0057] Optionally, in dynamic slope environments, the system can introduce an automatic position adjustment algorithm based on optimization models (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 described in detail 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, as well as the power 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] The setting of multiple time periods is based on the analysis of slope displacement evolution characteristics 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 adjust the radar transmission frequency parameters in sequence in each time period, transmit electromagnetic wave signals of corresponding frequencies to the target slope area, and synchronously receive the echo response 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 into the radar system, which includes a high-sensitivity low-noise amplifier, a frequency-selective filter, and a high-speed analog-to-digital conversion unit. It performs segmentation marking, time-domain sampling, and intensity demodulation on the echo signal by calling a preset multi-frequency channel data separation algorithm and a time-domain window function sampling mechanism, and cooperates with the echo intensity threshold judgment model 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 described in detail here.

[0066] At the same time, the number of wireless devices within the radar and the mine edge to be tested, as well as the power supply fluctuations of each wireless device, are detected in each time period;

[0067] The logic for obtaining the number of wireless devices is to use the wireless signal scanning unit deployed in the radar to monitor the broadcast signals in the mine area to be measured within the set frequency band at a preset period. The number of independent device identifiers above the effective receiving power threshold is counted to obtain the number of wireless devices.

[0068] The preset period is obtained by the experimenters based on the statistical distribution of radio interference and the analysis of the duration range of typical slope monitoring interference. The set frequency band range covers the operating frequency bands of common wireless communication equipment, including but not limited to 2.4GHz, 5GHz, LoRa, NB-IoT and other communication bands;

[0069] Furthermore, the effective receiving power threshold is obtained by our experimenters based on the system receiving sensitivity and signal discrimination confidence model, which will not be elaborated here;

[0070] The logic for acquiring power fluctuations for each wireless device involves collecting the transmission power variation curve of the corresponding device's broadcast signal during wireless signal monitoring. Combined with the received signal strength indicator data recorded by the receiving end over time, the device's power stability parameters within each time period are extracted. A signal strength fluctuation model is then constructed to determine the power fluctuations for each wireless device.

[0071] The corresponding device broadcast signal is the device corresponding to the number of wireless devices mentioned in the above embodiment. The received signal strength indicator is the RSSI value obtained in real time by the receiving end when receiving the corresponding device broadcast signal, which is used to represent the signal strength level of the current broadcast signal at the receiving location. There is no limit on the length of each set time period and is not described in detail here.

[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 transmit power change curve and the RSSI change curve within a set time period, which is expressed as:

[0073] ;

[0074] Where, For the The signal strength of each wireless device fluctuates. For the The device in RSSI value at each sampling moment, For the The average RSSI value of each device in the current time period;

[0075] S3: Utilizes power fluctuations of wireless devices to search for voltage spikes. The intensity of the environmental electromagnetic interference within each time period is analyzed by combining the number of wireless devices and voltage spikes. The reflection change interference within each time period is integrated and scored by combining radar signal echoes received at different frequencies.

[0076] The signal strength fluctuations obtained by the signal strength fluctuation model are used to retrieve voltage spikes. The acquisition logic is to calculate the difference between the received signal strength indicator value of the device in a set time period and the received signal strength indicator value of the previous set time period, take the absolute value, and compare it with the preset discrimination threshold. The instantaneous received signal strength indicator change value greater than or equal to the discrimination coefficient is retained to obtain the voltage spike;

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

[0078] ;

[0079] Where, is the instantaneous received signal strength indicator change value, is the received signal strength indicator value within the set time period, The received signal strength indicator value for the last set time period;

[0080] The judgment logic is as follows:

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

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

[0083] The number of wireless devices and voltage spikes are standardized and substituted into the comprehensive assessment model of environmental electromagnetic interference intensity to obtain the environmental electromagnetic interference intensity coefficient in each time period;

[0084] It should be noted that the standardization methods 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 nonlinear mapping function. The application methods of standardization are not described in detail 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 follows:

[0086] ;

[0087] Where, 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. The specific y is set as:

[0088] ;

[0089] Where, is the bias term, After standardization The number of wireless devices in each time period, After standardization The voltage spike in a certain time period, and are the regression coefficients of the number of wireless devices and voltage spikes, respectively;

[0090] The environmental electromagnetic interference intensity coefficient in each time period is normalized with the radar signal echo received at different frequencies, and the geometric mean method is used to obtain the reflection change interference integration score for each time period.

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

[0092] The geometric mean method is common knowledge among those skilled in the art. Its basic calculation logic is to raise the product of several positive numbers to the nth power. It is used to measure the balance or comprehensive impact of multiple variables. The specific formula is as follows:

[0093] ;

[0094] Where, For the Changes in reflexes over time interfere with integrated scoring, For the The environmental electromagnetic interference intensity coefficient after standardized processing for a period of time, For the In the first The radar echo signal strength received by each frequency channel is the value after normalization. The number of frequency channels to be set;

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

[0096] S4: Filter out the standard radar signal echo based on 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 issue an alarm based on the comparison result;

[0097] Compare the reflection change interference integration score of each time period with the 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 eliminated.

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

[0099] The radar echo intensity data in 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;

[0100] The process of calculating the current slope surface reflectivity using the standard radar signal echo follows the electromagnetic wave radar ranging and echo power inversion theory. Combined with the above-mentioned known radar parameters, transmission power, and environmental conditions, the energy intensity of the reflected echo per unit energy is calculated to deduce the slope surface's reflectivity to the incident wave. The specific steps are as follows:

[0101] The current slope surface reflectivity is obtained by using 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] Where, is the standard radar signal echo strength, is the transmit power, is the antenna gain, is the wavelength of electromagnetic waves, is the radar cross section of the target, is the distance from the radar to the target, is the loss factor;

[0105] Radar cross section, expressed as the scattering power per unit area multiplied by the reflectivity, is:

[0106] ;

[0107] Where, is the current slope surface reflectivity, is the equivalent reflection area of ​​the radar wave irradiated on the slope;

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

[0109] The reflectivity change alarm threshold is obtained by comprehensive analysis based on the radar system's minimum recognizable reflectivity change capability and the statistical distribution of reflectivity fluctuations under historical slope stability conditions, which will not be elaborated here.

[0110] Specifically, the alarm can be triggered by pushing slope abnormality signals to the monitoring platform or host computer system, synchronizing alarm information through the network interface, or sending control instructions to the slope on-site execution terminal, such as activating auxiliary radar or camera enhanced recognition strategies, which will not be elaborated here;

[0111] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0112] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. 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 program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

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

[0114] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0115] Those skilled in the art will 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 aforementioned method embodiments and will not be repeated here.

[0116] In the several embodiments provided in this 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 schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

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

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

[0119] If the functions are implemented in the form of software functional 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, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling 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 method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0120] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A radar monitoring and early warning method for open-pit mine slope stability, characterized by: include: S1: Obtain the position information of the radar and the mine edge to be measured and generate a monitoring distance, measure the radar signal echo intensity of the mine edge to be measured and calculate the initial slope surface reflectivity, and update the radar position information based on the monitoring distance between the radar and the mine edge to be measured and the radar signal echo intensity measurement result and the required echo intensity; 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, as well as the power fluctuations of each wireless device, are detected in each time period. S3: Utilizes power fluctuations of wireless devices to search for voltage spikes. The intensity of the environmental electromagnetic interference within each time period is analyzed by combining the number of wireless devices and voltage spikes. The reflection change interference within each time period is integrated and scored by combining radar signal echoes received at different frequencies. S4: Filter out the standard radar signal echo based on 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 issue an alarm based on the comparison result.

2. The radar monitoring and early warning method for open-pit mine slope stability according to claim 1 is characterized by: Obtain the three-dimensional coordinates of the radar antenna and the three-dimensional coordinates of the target point to be measured, construct the spatial coordinates between the radar antenna and the slope target point, and calculate the monitoring distance according to the Euclidean distance formula; The radar signal echo intensity at the mine edge to be measured is measured to obtain the radar signal echo intensity at the current monitoring point. The initial slope surface reflectivity is obtained by transmitting electromagnetic wave signals to the target area of ​​the slope and receiving the echo response of the monitoring point surface to the electromagnetic wave signals. 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. Maintain the current observation configuration and continue to perform the monitoring task. If the radar signal echo intensity of the current monitoring point is less than the required echo intensity, the radar position information update mechanism is triggered.

3. The radar monitoring and early warning method for open-pit mine slope stability according to claim 2, characterized in that: Combining the target area reflectivity, system transmission power and target intensity, the minimum monitoring distance that meets the monitoring conditions is obtained by inverse solution; The minimum monitoring distance is compared with the monitoring distance. If the monitoring distance is greater than the minimum monitoring distance, the radar antenna position is adjusted through close-range displacement, and the current echo intensity is repeatedly measured and the monitoring distance is updated and compared with the minimum monitoring distance until the monitoring distance is less than the minimum monitoring distance.

4. The radar monitoring and early warning method for open-pit mine slope stability according to claim 3 is characterized by: When the monitoring distance is less than the minimum monitoring distance, determine the current radar position information and set multiple time periods; By adjusting the radar's transmission frequency parameters in sequence in each time period, electromagnetic wave signals of corresponding frequencies are transmitted to the target slope area, and the receiving component synchronously receives the echo response. The echo signal is segmented, time-domain sampled, and intensity demodulated according to the frequency identifier to obtain the radar signal echo received at different frequencies.

5. The radar monitoring and early warning method for open-pit mine slope stability according to claim 1 is characterized by: The wireless signal scanning unit deployed in the radar monitors the broadcast signals in the mine edge area to be tested within the set frequency band at a preset period, counts the number of independent device identifiers, and obtains the number of wireless devices; 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 to obtain the power fluctuation of each wireless device.

6. The radar monitoring and early warning method for open-pit mine slope stability according to claim 5, characterized in that: The voltage spike is obtained by calculating the difference between the received signal strength indicator value of the device in the set time period and the received signal strength indicator value of the previous set time period, taking the absolute value, and comparing it with the preset discrimination threshold. The instantaneous received signal strength indicator change value that is greater than or equal to the discrimination threshold is retained; The number of wireless devices and voltage spikes are standardized and substituted into the comprehensive assessment 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 radar monitoring and early warning method for open-pit mine slope stability according to claim 6, characterized in that: The environmental electromagnetic interference intensity coefficient in each time period is normalized with the radar signal echo received at different frequencies and substituted into the geometric mean method to obtain the reflection change interference integration score for each time period.

8. The radar monitoring and early warning method for open-pit mine slope stability according to claim 7, characterized in that: Compare the reflection change interference integration score of each time period with the 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 eliminated. The radar echo intensity data in 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.

9. The radar monitoring and early warning method for open-pit mine slope stability according to claim 8, characterized in that: The current slope surface reflectivity is obtained by using the single-station radar echo formula between the standard radar signal echo power and the slope surface reflectivity; The current slope surface reflectivity is subtracted from the initial slope surface reflectivity and the absolute value is taken to obtain the reflectivity change. The reflectivity change is compared with the preset reflectivity change alarm threshold. If the reflectivity change is greater than or equal to the reflectivity change alarm threshold, an alarm is triggered. If the reflectivity change is less than the reflectivity change alarm threshold, no alarm is triggered.

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