Multi-topic coal mine surface subsidence and environment intelligent sensing and early warning system

Abstract

The invention relates to the technical field of coal mining subsidence area monitoring, in particular to a multi-thematic coal mine surface subsidence and environment intelligent sensing and early warning system which comprises a data integration module, a data processing module, a data management module, a model management module, a thematic map, a prediction and early warning module, a statistical report and an information management module. The data integration module is used for accessing monitoring data of the earth surface and environment of the mining area, the monitoring data comprises GNSS measuring point data, conventional measuring point data, unmanned aerial vehicle radar data, InSAR data, subsidence influence data and environment data, and the monitoring data is managed and analyzed by the data management module after being subjected to format conversion through the data processing module; by integrating the GNSS technology, conventional monitoring, the unmanned aerial vehicle radar, the InSAR technology, environment monitoring and subsidence influence monitoring, the subsidence area is dynamically monitored in an omnibearing and multi-level mode, dynamic visual display is provided through a thematic map, and anomaly detection and early warning of mining area surface deformation are achieved through the prediction and early warning module.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining subsidence area monitoring, and in particular to a multi-topic coal mine surface subsidence and environmental intelligent perception early warning system. Background Art

[0002] While serving the national economic construction, coal resource mining has also brought about a series of ecological and environmental problems. On the one hand, underground coal mining breaks the stress balance of the overlying rock and soil that was originally in a balanced state, resulting in various forms of movement and deformation to re-establish a new balance; in this process, the movement and destruction of the underground rock and soil spread to the surface, causing surface collapse and movement and deformation, which in turn affects the surface ancillary buildings or structures, causing damage to surface buildings or structures and damage to the ecological environment, and thus affecting people's normal life. With the protection of the ecological environment and the demarcation of the red line of cultivated land, the exploration and research in the field of coal mining subsidence has become an industry hotspot.

[0003] Domestic coal mining-related energy groups are currently carrying out pilot applications of multi-means integrated detection methods to try to monitor and solve the above-mentioned problems. Pilot operations have been carried out in mines in Inner Mongolia Autonomous Region, Huainan, Northern Anhui and other places. Along with the pilot projects, there are many software systems for the visualization of data of a single monitoring method, but there is no construction of a multi-topic intelligent perception, early warning and visualization system to achieve intelligent perception, early warning and visualization of coal mining subsidence areas with different landforms; the Chinese patent document "CN116045902A" (name: A deformation monitoring system for the surface of coal mining areas) discloses a coal mine subsidence monitoring system, which includes an information collection and monitoring module, a wireless transmission module, a storage module, a data solution and analysis module, and an early warning module. The information collection and monitoring module is used to obtain continuous surface data and non-continuous surface data; the data solution and analysis module is used to pre-process the two types of surface data respectively, and the pre-processed The data is comprehensively analyzed to obtain the predicted value of movement deformation; the early warning module is used to make an estimated early warning for the monitoring area based on the predicted value of movement deformation. In this patent, the mining working face information is obtained in real time, a model is constructed to predict deformation, and the model is corrected in combination with point cloud data to achieve a more accurate prediction. However, the point cloud data obtained only by drones does not integrate data from multiple monitoring methods such as InSAR and GNSS, and the subsidence prediction can no longer meet the requirements of accurate monitoring of coal mine subsidence in complex terrain; currently, in the field of coal mining subsidence area monitoring technology, monitoring methods that can be used for monitoring and early warning include but are not limited to InSAR, lidar, imaging, GNSS, rain gauges, liquid level gauges, subsidence prediction, hydrology, conventional measuring points, crack meters, and unmanned ships; with the advancement of science and technology, some monitoring methods have real-time acquisition methods, which provide possibilities for environmental perception analysis and multi-topic visualization. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-topic coal mine surface subsidence and environmental intelligent perception and early warning system. The present invention uses real-time data from multiple monitoring methods, combined with GIS and Cesium three-dimensional visualization technology, to achieve intuitive visualization of surface subsidence in complex topography coal mines, timely and accurately grasp the dynamic data information of coal mining subsidence, and use real-time monitoring data to achieve intelligent perception and early warning of the subsidence area environment, so as to provide solutions and decision-making support for comprehensively understanding and mastering the laws of coal mining subsidence on land and ecological damage, scientifically and accurately carrying out mine ecological restoration and land reclamation, strengthening the protection of cultivated land in mining areas, land use management and the whole life cycle supervision of ecological protection and restoration.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a multi-topic coal mine surface subsidence and environment intelligent perception early warning system, comprising: Data integration module, used to access mining area surface and environmental monitoring data, including GNSS measurement point data, conventional measurement point data, UAV radar data, InSAR data, subsidence impact data and environmental data; A data processing module processes the monitoring data, including UAV radar point cloud data processing, multi-source data step-by-step correction, multi-source and multi-modal data fusion, subsidence prediction and parameter inversion; Thematic map module generates and displays thematic maps for surface subsidence and environmental analysis, including GNSS thematic maps, conventional measurement point thematic maps, UAV radar point cloud thematic maps, UAV radar DEM thematic maps, UAV radar comparative analysis thematic maps, and InSAR thematic maps; The prediction and early warning module is used to set early warning indicators and thresholds, and provide prediction and early warning services for surface subsidence, environmental changes, and comprehensive regional changes in mining areas.

[0006] Preferably, in the data integration module, the GNSS measurement point data are data obtained by monitoring GNSS points set on the surface of the mining area based on GNSS technology, the conventional measurement point data are data obtained by manually monitoring artificial monitoring points set on the surface of the mining area, the UAV radar data are images and point cloud data collected by radar equipment carried by UAV images, the InSAR data are data obtained by monitoring the surface of the mining area through InSAR technology, the subsidence impact data are mine data obtained by collecting factors that affect the deformation of the mining area surface, including mine working face coordinates and mining depth data, and the environmental data include water quality, hydrology, soil, rainfall, and temperature data of the mine.

[0007] Preferably, in the data processing module, the UAV radar point cloud data processing includes filtering, registration, DEM establishment, and motion deformation extraction. The multi-source data step-by-step correction corrects the UAV radar data and InSAR data step-by-step through local leveling and GNSS measurement point data. The multi-source multi-modal data fusion performs fusion processing on the conventional measurement point data, GNSS measurement point data, InSAR data and UAV radar data. The subsidence prediction and parameter inversion construct a subsidence prediction model, parameter inversion and optimization method.

[0008] Preferably, in the thematic map module, the GNSS thematic map displays the connected GNSS points within the authority range on the map, the conventional measurement point thematic map displays the manual monitoring points within the authority range on the map, the UAV radar point cloud thematic map performs statistical analysis and intuitive display on the UAV radar point cloud data, the UAV radar DEM thematic map displays DEM data in a three-dimensional form based on DEM processing slices, the UAV radar comparative analysis thematic map displays two periods of UAV radar data and comparison result data thematic layers in the form of a rolling curtain, and the InSAR thematic map displays InSAR interpretation images and InSAR interpretation result data of different periods.

[0009] Preferably, the multi-topic coal mine surface subsidence and environmental intelligent perception and early warning system also includes a data management module, which includes GNSS measurement point data management, conventional measurement point data management, UAV radar data management, InSAR data management, subsidence impact data management, and environmental data management. The GNSS measurement point data management is used to view the accessed real-time GNSS measurement point data and curves, the conventional measurement point data management is used to maintain and manage the measurement data of each artificial monitoring point, the UAV radar data management is used to upload and maintain the UAV images and radar data according to time periods, the InSAR data management is used to manage the InSAR interpreted image data according to time periods, the subsidence impact data management is used to upload and manage the subsidence impact data according to time periods, and the environmental data management is used to maintain and manage water quality, hydrology, soil, rainfall, and temperature data.

[0010] Preferably, the multi-topic coal mine surface subsidence and environmental intelligent perception and early warning system also includes a model management module, which includes a subsidence prediction model, a drone radar model, a historical image model, a subsidence analysis model, and a mine underground mining map model. The subsidence prediction model is used to obtain a mining area subsidence prediction contour model based on the monitoring data, the drone radar model is used to process and display the three-dimensional model data of the drone radar point cloud data, the historical image model is used to customize the selection of historical image models of different periods, the subsidence analysis model is used to display the subsidence analysis model obtained based on the monitoring data, and the mine underground mining map model is used to process the monitoring data according to the underground mining map provided by the mine and produce a model that can be displayed on a web map.

[0011] Preferably, the multi-topic coal mine surface subsidence and environmental intelligent perception and early warning system also includes statistical reports, which include subsidence depth statistics, subsidence area statistics, radar result data statistics, mine basic situation statistics, and each mine monitoring means statistics. The subsidence depth statistics are used to produce a curve display of subsidence depth statistics based on the GNSS measurement point data, the subsidence area statistics are used to count the subsidence area of each mine based on the subsidence prediction and measured values, the radar result data statistics are used for data statistics of UAV flight measurement results, the mine basic situation statistics are used for statistics of the number of mines, mine area, and subsidence area, and the monitoring means statistics of each mine are used for statistics on the usage of each mine's monitoring means.

[0012] Preferably, the multi-topic coal mine surface subsidence and environmental intelligent perception and early warning system also includes an information management module, which includes organization management, point management, mine management, working face management, and monitoring plan management. The organization management is used to maintain the information of relevant organizations and units, the point management is used to maintain the information of monitoring points of different monitoring means, the mine management is used to manage the location and mining situation information of the mine, the working face management is used to manage the coordinates and mining situation information of the working face, and the monitoring plan management is used to provide a monitoring plan filling function for each monitoring means.

[0013] Preferably, the prediction and warning module includes warning configuration, warning program, warning information management, and warning analysis. The warning configuration is used to configure and view the configuration information of the threshold, level, and push range of each warning item. The warning program is used to monitor the difference between the monitoring data value and the set threshold, and generate warning information when the set threshold is exceeded. The warning information management is used to manage the generated warning information. The warning analysis is used to perform customized risk assessment and trend prediction on different warning information according to needs.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention integrates GNSS technology, conventional monitoring, drone radar, InSAR technology, environmental monitoring and subsidence impact monitoring, and conducts all-round, multi-level dynamic monitoring of subsidence areas through real-time data from multiple monitoring methods, thereby realizing real-time monitoring and data sharing of subsidence areas, ensuring data security and privacy protection, and enhancing the supervision capabilities of cultivated land protection, land use management and ecological restoration in mining areas.

[0015] 2. This invention uses GIS technology, Cesium three-dimensional visualization technology and multi-dimensional fusion of monitoring data to provide dynamic visualization of thematic maps, improve user experience, and conduct in-depth analysis of subsidence trends. It has an innovative data fusion and display method.

[0016] 3. The present invention uses a prediction and early warning module to detect abnormal surface deformation in mining areas and provide early warning, which can provide mining companies with sufficient prevention and response time, protect the lives and property of miners, and ensure the continuity and stability of mining production. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall structural diagram of the present invention; Figure 2 This is a structural diagram of the data integration module in the present invention; Figure 3 It is a structural block diagram of the data processing module in the present invention; Figure 4 This is a structural diagram of the data management module in the present invention; Figure 5 This is a structural diagram of the model management module in the present invention; Figure 6 This is a structural diagram of the thematic map module in the present invention; Figure 7 This is a structural block diagram of the prediction and warning module in the present invention; Figure 8 It is a structural diagram of the statistical report in the present invention; Figure 9 This is a structural diagram of the information management module in the present invention; Figure 10 This is the rendering of the GNSS thematic map in the present invention; Figure 11 This is the effect diagram of the conventional measuring point thematic map in the present invention; Figure 12 This is a page effect diagram for predicting subsidence in the present invention; Figure 13 This is the InSAR interpretation image effect diagram in the present invention. DETAILED DESCRIPTION

[0018] 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.

[0019] The present invention supports the query and display of monitoring data, realizes the joint analysis and display of surface deformation and mine monitoring data, and forms a comprehensive information perception and early warning information system that integrates GIS two- and three-dimensional map display, Cesium three-dimensional visualization technology, data query, data solution, and risk prediction and early warning.

[0020] See also Figure 1-13 , a multi-topic coal mine surface subsidence and environment intelligent perception early warning system, including: The data integration module is used to access the monitoring data of the mining area's surface and environment. The monitoring data includes GNSS measurement point data, conventional measurement point data, UAV radar data, InSAR data, subsidence impact data and environmental data. GNSS measurement point data is data obtained by monitoring GNSS points set on the mining area's surface based on GNSS technology. Conventional measurement point data is data obtained by manually monitoring manual monitoring points set on the mining area's surface. UAV radar data is image and point cloud data collected by drone-mounted radar equipment. InSAR data is data obtained by monitoring the mining area's surface using InSAR technology. Subsidence impact data is mine data obtained by collecting factors that affect mining area surface deformation, including mine working face coordinates and mining depth data. Environmental data includes water quality, hydrology, soil, rainfall and temperature data of the mine.

[0021] A data processing module processes the monitoring data, including UAV radar point cloud data processing, multi-source data step-by-step correction, multi-source multi-modal data fusion, subsidence prediction and parameter inversion. The UAV radar point cloud data processing is used to filter, align, establish a DEM, and extract motion deformation of the point cloud data acquired by the UAV radar. The multi-source data step-by-step correction is used to correct the UAV radar data and InSAR data step-by-step using local leveling and GNSS measurement point data. The multi-source multi-modal data fusion is used to fuse and process the conventional measurement point data, GNSS measurement point data, InSAR data, and UAV radar data. The subsidence prediction and parameter inversion are used to construct a subsidence prediction model, parameter inversion, and optimization method. The thematic map module generates and displays thematic maps for surface subsidence and environmental analysis, including GNSS thematic maps, conventional measurement point thematic maps, UAV radar point cloud thematic maps, UAV radar DEM thematic maps, UAV radar comparative analysis thematic maps and InSAR thematic maps. GNSS thematic maps are used to display the connected GNSS points within the scope of authority on the map, support interactive clicks and display the latest GNSS data. GNSS thematic maps provide GNSS point list information and support query and view details functions. The details function includes GNSS monitoring data curves; conventional measurement point thematic maps are used to display the manual monitoring points within the scope of authority on the map. Conventional measurement point thematic maps support interactive clicks and display the latest manual measurement data, comparison with the last manual measurement data, total deformation data. Conventional measurement point thematic maps provide manual monitoring point list information and support query and view details functions. , the details function includes the manual monitoring data curve; the UAV radar point cloud thematic map is used for the statistical analysis and intuitive display of the UAV radar point cloud data, and supports the selection of point cloud data by period and region. The point cloud data is based on research results and forms a legend, supporting the statistical analysis and intuitive display of point cloud data, and can highlight the calibration of areas with large deformation variables; the UAV radar DEM thematic map is used to display DEM data in a three-dimensional form based on DEM processing slices, and supports DEM stereo display, map positioning, and real-time elevation coordinate picking functions; the UAV radar comparative analysis thematic map is used to display the two-period UAV radar data and the comparison result data thematic layer in the form of a rolling curtain, which is convenient for intuitively grasping the surface deformation situation, and can provide statistical analysis results of surface deformation data and present them in the form of charts. The InSAR thematic map is used to display InSAR interpretation images and InSAR interpretation result data of different periods.

[0022] The prediction and warning module is used to set warning indicators and thresholds, provide prediction and warning services for surface subsidence, environmental changes, and regional comprehensive changes in mining areas, perform warning level classification, event risk assessment, and warning information display and notification related process execution, and support historical warning information data comparison and analysis; the prediction and warning module includes warning configuration, warning program, warning information management, and warning analysis. The warning configuration is used to configure and view the configuration information of the threshold, level, and push range of each warning item. The warning program is used to monitor the difference between the monitoring data value and the set threshold, generate warning information when the set threshold is exceeded, and send warning notifications according to the configuration; warning information management is used to manage the generated warning information and support read operations; warning analysis is used to perform customized risk assessment and trend prediction for different warning information according to needs; the prediction and warning module can provide mining companies with sufficient prevention and response time through abnormal detection and warning of surface deformation in mining areas, protect the lives and property of miners, and ensure the continuity and stability of mining production.

[0023] The data management module is used to manage monitoring data, including GNSS measurement point data management, conventional measurement point data management, UAV radar data management, InSAR data management, subsidence impact data management, and environmental data management; GNSS measurement point data management is used to view the connected GNSS real-time monitoring data and curves. The displayed data is the connected real-time GNSS measurement point data and curves. It does not provide maintenance functions, but only provides GNSS displacement data; conventional measurement point data management is used to maintain and manage the measurement data of each artificial monitoring point, providing data addition, deletion, modification and query functions, and supporting Excel import; UAV radar data management is used to upload UAV images and radar data by time period. The data transmission and maintenance management of UAV radar is used for map display; InSAR data management is used to manage InSAR interpretation image data by time period, InSAR data is used for InSAR thematic map display, and the upload, maintenance and management of interpretation reports are provided; subsidence impact data management is used to upload and manage subsidence impact data by time period. Subsidence impact data is processed GIS data, and the subsidence impact range of a certain period can be displayed according to the time of uploading data; environmental data management is used to maintain and manage environmental data. Environmental data can be water quality, hydrology, soil, rainfall, and temperature data of mines. It supports the entry and maintenance of environmental data point information and supports map point drawing to view the entered environmental data.

[0024] The model management module is responsible for the unified management of the analysis models of the processed monitoring data, including subsidence prediction models, UAV radar models, historical image models, subsidence analysis models, and mine underground mining map models. The subsidence prediction model is used to obtain the mining area subsidence prediction contour model based on the monitoring data, which supports map overlay display and supports selection of different periods for viewing; the UAV radar model is used for three-dimensional model data processing and display of UAV radar point cloud data; the historical image model is used to customize the historical image model of different periods; the subsidence analysis model is used to display the subsidence analysis model obtained based on the monitoring data, which can be a multi-layer overlay display model; the mine underground mining map model is used to process the monitoring data according to the underground mining map provided by the mine and produce a model that can be displayed on the web map, which is used to overlay the base map and accurately grasp the upper and lower conditions of the mine; the model management module supports the import and export, editing, modification, update and maintenance operations of the model.

[0025] A multi-topic coal mine surface subsidence and environmental intelligent perception and early warning system provided by the present invention accesses monitoring data of the mining area surface and environment through a data integration module. The monitoring data are different data obtained through different monitoring technical means. In the embodiment of the present invention, the monitoring data are GNSS measurement point data, conventional measurement point data, drone radar data, InSAR data, subsidence impact data and environmental data. The present invention integrates GNSS technology, conventional monitoring, drone radar, InSAR technology, environmental monitoring and subsidence impact monitoring, and uses real-time data from multiple monitoring means to conduct all-round, multi-level dynamic monitoring of the subsidence area, realize real-time monitoring and data sharing of the subsidence area, ensure data security and privacy protection, and enhance the supervision capacity of cultivated land protection, land use management and ecological protection and restoration in the mining area.

[0026] Furthermore, in one embodiment of the present invention, the monitoring data is converted into a data format through a data processing module, including UAV radar point cloud data processing, multi-source data step-by-step correction, multi-source multi-modal data fusion, subsidence prediction and parameter inversion. The data processing module can be used for multi-dimensional data fusion processing to achieve data format unification.

[0027] Furthermore, in one embodiment of the present invention, the data management module manages and analyzes the processed monitoring data, including GNSS measurement point data management, conventional measurement point data management, UAV radar data management, InSAR data management, subsidence impact data management, and environmental data management. The data management module realizes data access management, data quality management, metadata management, data cleaning, data statistical analysis, data query and backtracking. The data statistical analysis function requires the use of GIS technology and Cesium technology to build a two- and three-dimensional visualization map scene platform of the platform to realize the visualization of dynamic perception monitoring data of the mining area, and to perform comprehensive visualization of various monitoring and analysis results within the scene, so as to realize the interactive operation of users to query information on the analysis results and the overlay interactive visualization of various monitoring and analysis results. At the same time, the two- and three-dimensional visualization map scene platform supports basic map scene functions of distance measurement, area calculation, and coordinate conversion; thematic maps are used to display monitoring data charts, including GNSS thematic maps, conventional measurement point thematic maps, UAV radar point cloud thematic maps, UAV radar DEM thematic maps and InSAR thematic maps. The dynamic visualization display of thematic maps improves the user experience.

[0028] Statistical reports are used to generate analysis results of monitoring data, including subsidence depth statistics, subsidence area statistics, radar result data statistics, mine basic situation statistics, and statistics on monitoring methods of each mine; subsidence depth statistics are used to produce curves showing subsidence depth statistics based on GNSS measurement point data, and subsidence area statistics are used to calculate the subsidence area of the mine based on subsidence estimates and actual measured values; radar result data statistics are used for statistical data of UAV flight measurement results; mine basic situation statistics are used for statistics on the number of mines, mine area, and subsidence area, and statistics on monitoring methods of each mine are used for statistics on the usage of monitoring methods of each mine.

[0029] The information management module provides system information management and directory retrieval. The information management module includes organization management, point management, mine management, working face management, and monitoring plan management. Organization management provides tree structure organization management, which is used to maintain the code, name, hierarchy, and location information of organizations and units, maintain the center point coordinate information of the mine, the mine boundary point coordinate data, and the administrative division information, and can provide basic information support for different users and map roaming areas; point management is used to maintain the information of monitoring points of different monitoring methods, including the number, type, status, longitude and latitude, elevation, and on-site photo information of the monitoring points, which are used for precise map positioning; mine management is used to manage the location and mining situation information of the mine, including the mine boundary location, factory location, mining level, area, output, commissioning time, and land type information; working face management is used to manage the coordinates and mining situation information of the working face, including the inflection point coordinate information of the working face, mining information, mining status, start mining date, end date, coal thickness, and inclination information; monitoring plan management is used to provide the monitoring plan filling function for each monitoring method, which helps to grasp and manage the monitoring cycle information of each monitoring method.

[0030] This invention provides dynamic visualization of thematic maps through the multi-dimensional integration of GIS technology, Cesium 3D visualization technology, and monitoring data, improving the user experience. It also integrates GNSS technology, conventional monitoring, drone radar, InSAR technology, environmental monitoring, and subsidence impact monitoring. It uses real-time data from multiple monitoring methods to conduct all-round, multi-level dynamic monitoring of subsidence areas. It uses a prediction and early warning module to detect abnormal surface deformation in mining areas and issue early warnings. This can provide mining companies with sufficient prevention and response time, protect the lives and property of miners, and ensure the continuity and stability of mining production. It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0031] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-topic coal mine surface subsidence and environment intelligent perception early warning system, characterized by: include: Data integration module, used to access mining area surface and environmental monitoring data, including GNSS measurement point data, conventional measurement point data, UAV radar data, InSAR data, subsidence impact data and environmental data; A data processing module processes the monitoring data, including UAV radar point cloud data processing, multi-source data step-by-step correction, multi-source and multi-modal data fusion, subsidence prediction and parameter inversion; Thematic map module generates and displays thematic maps for surface subsidence and environmental analysis, including GNSS thematic maps, conventional measurement point thematic maps, UAV radar point cloud thematic maps, UAV radar DEM thematic maps, UAV radar comparative analysis thematic maps, and InSAR thematic maps; The prediction and early warning module is used to set early warning indicators and thresholds, and provide prediction and early warning services for surface subsidence, environmental changes, and comprehensive regional changes in mining areas.

2. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: In the data integration module, the GNSS measurement point data is data obtained by monitoring GNSS points set on the surface of the mining area based on GNSS technology, the conventional measurement point data is data obtained by manually monitoring manual monitoring points set on the surface of the mining area, the UAV radar data is images and point cloud data collected by radar equipment equipped with UAV imaging, the InSAR data is data obtained by monitoring the surface of the mining area through InSAR technology, the subsidence impact data is mine data obtained by collecting factors that affect the deformation of the mining area surface, including mine working face coordinates and mining depth data; the environmental data includes water quality, hydrology, soil, rainfall, and temperature data of the mine.

3. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: In the data processing module, the UAV radar point cloud data processing includes filtering, alignment, DEM establishment, and motion deformation extraction. The multi-source data step-by-step correction corrects the UAV radar data and InSAR data step-by-step through local leveling and GNSS measurement point data. The multi-source multi-modal data fusion fuses the conventional measurement point data, GNSS measurement point data, InSAR data and UAV radar data. The subsidence prediction and parameter inversion construct a subsidence prediction model, parameter inversion and optimization method.

4. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: In the thematic map module, the GNSS thematic map displays the connected GNSS points within the authority scope on the map, the conventional measurement point thematic map displays the manual monitoring points within the authority scope on the map, the UAV radar point cloud thematic map performs statistical analysis and intuitive display of UAV radar point cloud data, the UAV radar DEM thematic map displays DEM data in a three-dimensional form based on DEM processing slices, the UAV radar comparative analysis thematic map displays two periods of UAV radar data and comparison result data thematic layers in the form of a rolling curtain, and the InSAR thematic map displays InSAR interpretation images and InSAR interpretation result data from different periods.

5. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: It also includes a data management module, which includes GNSS measurement point data management, conventional measurement point data management, UAV radar data management, InSAR data management, subsidence impact data management, and environmental data management. The GNSS measurement point data management is used to view the real-time GNSS measurement point data and curves of the access, the conventional measurement point data management is used to maintain and manage the measurement data of each artificial monitoring point, the UAV radar data management is used to upload and maintain the UAV images and radar data according to time periods, the InSAR data management is used to manage the InSAR interpreted image data according to time periods, the subsidence impact data management is used to upload and manage the subsidence impact data according to time periods, and the environmental data management is used to maintain and manage water quality, hydrology, soil, rainfall, and temperature data.

6. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: It also includes a model management module, which includes a subsidence prediction model, a drone radar model, a historical image model, a subsidence analysis model, and a mine underground mining map model. The subsidence prediction model is used to obtain a mining area subsidence prediction contour model based on the monitoring data. The drone radar model is used to process and display the three-dimensional model data of the drone radar point cloud data. The historical image model is used to customize the selection of historical image models of different periods. The subsidence analysis model is used to display the subsidence analysis model obtained based on the monitoring data. The mine underground mining map model is used to process the monitoring data according to the underground mining map provided by the mine and produce a model that can be displayed on a web map.

7. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: It also includes statistical reports, which include subsidence depth statistics, subsidence area statistics, radar result data statistics, mine basic situation statistics, and statistics on monitoring methods of each mine. The subsidence depth statistics are used to produce curve-displayed subsidence depth statistics based on the GNSS measurement point data. The subsidence area statistics are used to count the subsidence area of each mine based on subsidence estimates and actual measured values. The radar result data statistics are used for data statistics of UAV flight measurement results. The basic situation statistics of mines are used for statistics on the number of mines, mine area, and subsidence area. The monitoring method statistics of each mine are used for statistics on the usage of monitoring methods of each mine.

8. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: It also includes an information management module, which includes organization management, point management, mine management, working face management, and monitoring plan management. The organization management is used to maintain the information of organizations and units, the point management is used to maintain the information of monitoring points of different monitoring means, the mine management is used to manage the location and mining situation information of the mine, the working face management is used to manage the coordinates and mining situation information of the working face, and the monitoring plan management is used to provide a monitoring plan filling function for each monitoring means.

9. The multi-topic coal mine surface subsidence and environment intelligent perception early warning system according to claim 1 is characterized by: The prediction and warning module includes warning configuration, warning program, warning information management, and warning analysis. The warning configuration is used to configure and view the configuration information of the threshold, level, and push range of each warning item. The warning program is used to monitor the difference between the monitoring data value and the set threshold, and generate warning information when the set threshold is exceeded. The warning information management is used to manage the generated warning information. The warning analysis is used to perform customized risk assessment and trend prediction on different warning information according to needs.

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