Surface mine slope greening ecological restoration slope stability treatment method

Abstract

The invention discloses a surface mine side slope greening ecological restoration side slope stability treatment method, and relates to the field of mine side slope greening, and the method comprises the steps: arranging a horizontal shaft net above a side slope, vertically segmenting a side slope surface based on the shaft net, enabling each grid of the shaft net to correspond to a sub-side slope surface, the unmanned aerial vehicle module carries a collection device to collect a slope structure state and restoration information; setting a period for the unmanned aerial vehicle to carry the acquisition equipment to acquire the slope structure state and the restoration information, and based on preset continuous acquisition of the slope structure state and the restoration information, distinguishing and storing the slope structure state and the restoration information acquired each time; according to the invention, the horizontal shaft net is arranged to segment the slope surface, and the unmanned aerial vehicle module is combined to accurately collect information according to grids, so that refined monitoring of the slope is realized, the slope restoration stability safety situation can be accurately monitored, and reliable technical support is provided for surface mine slope greening ecological restoration and stability management.

Description

Technical Field

[0001] The present invention relates to the technical field of mine slope greening, and in particular to a method for managing slope stability during greening and ecological restoration of open-pit mine slopes. Background Art

[0002] Mine slope greening ecological restoration is to restore the ecosystem of exposed slopes formed by mining through vegetation planting, soil improvement and other technologies.

[0003] The invention patent application with application number 202411592419.0 discloses a method for predicting the stability of overlying slopes in coal mining subsidence areas in loess regions, comprising: determining a first hidden danger area in a target area based on environmental factors of the slopes in the loess region, structural factors of the slopes in the loess region and regional adjustment coefficients of the slopes in the loess region: the environmental factors include geographical factors, geological environment background factors and meteorological and hydrological conditions; the target area is a loess region, including multiple coal mining areas and coal mining subsidence areas using underground mining, and has a preset area range: the first hidden danger area includes at least one coal mining area and coal mining subsidence area using underground mining; determining a second hidden danger area in the first hidden danger area based on the position factors of the slopes in the loess region, the mining depth and thickness ratio of the coal mining subsidence area, the coal mining process and the slope type: the second hidden danger area in the first hidden danger area The hidden danger area includes at least one slope with instability hazard in a coal mining subsidence area; the location factors include the range of mined goaf areas and the range of unmined goaf areas; the quantitative values ​​of stability influencing factors of the slope with instability hazard in the at least one coal mining subsidence area are obtained, and input into the random forest slope stability prediction model to obtain the stability prediction results of the slope in the at least one coal mining subsidence area: the stability prediction results include stable or unstable; the quantitative values ​​of the stability influencing factors include slope cohesion, slope internal friction angle, slope height, slope angle, average bulk density of slope rock and soil materials, and slope pore pressure ratio. This application aims to solve the problem of "slope instability, soil erosion and land resource degradation in loess areas caused by mining activities, which not only threaten the safety of personnel and equipment of mining companies, but also bring safety hazards to surrounding residential buildings and transportation facilities."

[0004] However, although existing technologies can analyze slope changes through image acquisition and distance measurement to evaluate the stability of slope restoration, the growth of grass seeds directly affects the distance measurement method, which leads to errors and ultimately affects the results of slope restoration stability assessment.

[0005] Therefore, a slope stability management method for open-pit mine slope greening ecological restoration was proposed. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a method for managing the stability of open-pit mine slopes through greening and ecological restoration, which can effectively solve the problems of the prior art.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention discloses a method for managing slope stability of open-pit mine slopes through greening and ecological restoration, comprising: A horizontal axis grid is set above the slope, and the slope surface is vertically divided based on the axis grid so that each grid of the axis grid corresponds to a sub-slope surface. The slope structure status and repair information are collected based on the collection equipment carried by the drone module; the cycle for collecting the slope structure status and repair information with the collection equipment carried by the drone is set, and the slope structure status and repair information is continuously collected based on the preset setting, and the slope structure status and repair information collected each time is differentiated and stored; the earliest set of slope structure status and repair information is always compared with the latest set of slope structure status and repair information among the differentiated and stored slope structure status and repair information to evaluate the stability of the slope repair; the slope repair stability evaluation results are recorded, and the slope repair stability safety situation is monitored based on the evaluation results.

[0008] Furthermore, each grid in the horizontal axis grid is a square, and each grid has the same size; During the stage of setting the horizontal axis network above the slope, pick at least 4 points corresponding to the position points included in the slope boundary on a horizontal plane at least 1m vertically above the slope's highest point. Connect the picked points to form a closed area, which will be used as the placement area of ​​the horizontal axis network. The user client simultaneously sets the grid width of the horizontal grid, creates the horizontal grid based on the set width, and then covers the horizontal grid in the placement area. The horizontal grid is then separated based on the placement area by moving the horizontal grid horizontally and vertically, minimizing the area of ​​incomplete grids at the edges of the horizontal grid. This completes the horizontal grid setup. Among them, when setting the points picked up on the horizontal plane, that is, the grid width, the higher the slope stability detection accuracy requirement is, the more points are picked up on the horizontal plane and the smaller the grid width is set.

[0009] Furthermore, the acquisition equipment carried by the drone module includes an ultrasonic ranging sensor and a camera. The ranging end and the camera end of the ultrasonic ranging sensor and the camera are both vertically downward. When the drone module carries the acquisition equipment to collect the slope structure status and repair information, the drone module uses each grid as a flight target. Each time it flies to a grid, it collects a sub-slope surface image at the center point of the grid. After the sub-slope surface image is collected, the drone module takes the current location as the starting point and any point on the grid edge as the end point. It flies horizontally around the starting point in a rectangular spiral path with equal step lengths. The pitch of each circle in the path is equal and is set to 1 / 5 to 1 / 10 of the grid width. While flying horizontally around the starting point in a rectangular spiral path with equal step lengths, the drone module continuously measures the distance from itself to the sub-slope surface using an ultrasonic ranging sensor based on a preset frequency. The slope structure status information is the ranging result of the ultrasonic ranging sensor, and the slope repair information is the sub-slope surface image captured by the camera.

[0010] Furthermore, after the sub-slope surface image is collected, segmentation processing is performed synchronously to pick up the sub-slope surface corresponding image in the sub-slope surface image. The segmentation processing operation is: Calculate the sub-slope surface area a1 based on the actual length and width of the sub-slope surface, obtain the area a2 of the real scene corresponding to the sub-slope surface image, calculate the ratio b of a1 to a2, and then segment the sub-slope surface corresponding image at the center of the sub-slope surface image. The length ratio of the corresponding side of the sub-slope surface corresponding image and the sub-slope surface image is equal, so that the ratio of the area of ​​the sub-slope surface corresponding image to the area of ​​the sub-slope surface image is equal to b; The calculation formula for the area a2 of the sub-slope surface image corresponding to the real scene is: ; Where: is the area of ​​the sub-slope surface image corresponding to the real scene; is the width and height of the sub-slope surface image corresponding to the real scene; is the horizontal physical size of the camera sensor and the vertical physical size of the camera sensor; is the object distance; is the focal length of the lens; Among them, object distance The ranging result comes from the ultrasonic ranging sensor's operating perception.

[0011] Furthermore, the ranging result of the ultrasonic ranging sensor is corrected, and the ranging result after the correction process is differentiated and stored based on the sub-slope surface from which it originates, and the corresponding image of the sub-slope surface is synchronously stored in the corresponding differentiated storage interval; The correction processing logic of the ranging result of the ultrasonic ranging sensor is: ; Where: is the corrected ranging value; is the original distance measurement value; is the average height of weeds on the sub-slope surface; is the density coefficient of weeds; is the ultrasonic penetration coefficient; is the operating frequency of the sensor; is the reference frequency of the sensor; The distance measurement result of each ultrasonic distance measurement sensor is corrected based on the above formula.

[0012] Furthermore, the average height of weeds on the sub-slope surface is is an estimated value, and its value follows: : Density coefficient of the weeds The value is determined by setting the weed color value determination interval, comparing the color value of each pixel in the sub-slope surface corresponding image with the weed color value determination interval, determining the pixels that meet the weed color value determination interval, and counting the ratio of the number of pixels that meet the weed color value determination interval to the total number of pixels in the sub-slope surface corresponding image, recorded as : The ultrasonic penetration coefficient The value follows: the thinner the leaves and the looser the texture, the larger the value; the thicker the leaves and the denser the texture, the smaller the value. The value range is [0.1, 0.9]. Where: is the theoretical maximum growth height of this type of weed; is the initial growth rate coefficient; Time from the date of sowing weed seeds to the present; is the growth fluctuation coefficient; is the environmental rhythm influence coefficient; is the environmental rhythm period, which is 24.

[0013] Furthermore, the initial growth rate coefficient , growth fluctuation coefficient , Environmental rhythm influence coefficient The value of follows: ; Where: The time from sowing to the time when the weeds reach 50% of their maximum height; is the moisture sensitivity coefficient; is the actual soil moisture content; The optimum soil moisture content for the growth of this type of weed; is the species-intrinsic fluctuation constant; is the daily temperature fluctuation amplitude; is the daily average temperature; is the fluctuation attenuation coefficient; is the basic rhythm coefficient; is the actual sunshine duration; The optimal sunshine duration for this type of weed; is the actual ambient temperature; The optimum temperature for the growth of this type of weed; in, Reflects the degree of weeds' dependence on water. , the more weeds depend on water, The larger the value, The moisture content is determined by evenly selecting no less than four test points on the slope surface and then calculating the average value. The fluctuation attenuation coefficient is determined by measuring the average daily fluctuation amplitude of the plant height of this type of weed in the seedling stage under standard environment, with a value range of 0.02~0.15. Determined by the degree of lignification of weed stems, the higher the degree of lignification, the The larger the value, the range is 0.01~0.1, the basic rhythm coefficient The value is determined by the fact that the more sensitive the weed type is to the day-night cycle and the changes in the light cycle, the larger the value is, and vice versa. The value range is (0, 0.5).

[0014] Furthermore, the cycle of the collection equipment carried by the drone to collect slope structure status and repair information is customized by the system end user, and when a rainfall event occurs in the area where the slope is located, the rainfall amount is compared with a preset threshold. When the rainfall amount of the rainfall event exceeds the preset threshold, the slope structure status and repair information collection operation is performed once after the rainfall event ends. Each group of slope structure status and repair information stored separately includes: the distance measurement results after each correction within the range of each sub-slope surface, and the corresponding image of the sub-slope surface; The distance measurement results after each correction within the sub-slope surface are represented based on the sub-slope surface model; The sub-slope surface model is constructed in accordance with the following principles: a rectangular spiral path of equal step length is drawn in three-dimensional space for the drone to fly in the corresponding grid of the sub-slope surface. When the ultrasonic ranging sensor performs ranging operations, its position on the rectangular spiral path of equal step length is perpendicular to the plane defined by the rectangular spiral path of equal step length. A vertical line is drawn using the corrected ranging result. The ends of the perpendicular lines away from the plane defined by the rectangular spiral path of equal step length are connected adjacently to each other to form a multi-face model composed of multiple faces spliced ​​together, which is recorded as a sub-slope face model.

[0015] Furthermore, the slope restoration stability assessment operation uses each sub-slope surface as an independent assessment target; The restoration stability assessment operation of each sub-slope surface in the slope is as follows: ; Where: Restoration stability of the sub-slope surface; is the similarity between the earliest sub-slope surface model and the latest sub-slope surface model; The current repair degree of the sub-slope surface; is the earliest restoration degree of the sub-slope surface; is the minimum value; is the weight; Among them, the degree of restoration of the sub-slope surface H is based on the density coefficient of the weeds on the sub-slope surface. Average plant height of weeds The product of is defined, the weight The sum is 1, and the weight value obeys: Based on the above formula In the process, the initial , Continuously decreasing, Continue to add until the initial weight difference is equal to the weight difference after the change. Finalize the changes and apply them persistently.

[0016] Furthermore, the operations for monitoring the stability and safety status of slope restoration based on the assessment results are as follows: The latest three calculations Continuous increase indicates that the slope restoration stability is excellent; The latest three calculations Non-continuous increase, and the latest three calculations The latest calculation Greater than the earliest calculated , indicating that the slope repair stability is normal; Other situations indicate that the stability of the slope repair is abnormal or deteriorated.

[0017] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The present invention provides a method for managing the stability of open-pit mine slopes for greening and ecological restoration. During the execution of the method, a horizontal axis grid is set to segment the slope surface, and an unmanned aerial vehicle module is used to accurately collect information according to the grid, thereby achieving refined monitoring of the slope. The combination of collection equipment and flight path design can comprehensively obtain slope structure and restoration information. The corrected ranging results and image segmentation processing improve data accuracy. The sub-slope surface is used as an independent evaluation target, and the stability is evaluated by combining specific ranging correction logic, model similarity and restoration degree. The weight is dynamically adjusted, making the evaluation more realistic and more valuable. At the same time, the collection cycle can be flexibly set, taking into account both normal and special weather conditions, and can accurately monitor the stability and safety of slope restoration, provide reliable technical support for open-pit mine slope greening ecological restoration and stability management, effectively ensure the management effect and slope safety, and monitor the slope in real time throughout the entire cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0019] Figure 1 The figure is a flow chart of a method for managing slope stability through greening and ecological restoration of open-pit mine slopes. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. 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.

[0021] The present invention will be further described below with reference to the embodiments. Example

[0022] A method for managing slope stability of an open-pit mine slope greening ecological restoration in this embodiment is as follows: Figure 1 Shown, including: A horizontal axis grid is set above the slope, and the slope surface is vertically divided based on the axis grid, so that each grid of the axis grid corresponds to a sub-slope surface. The data collection equipment carried by the drone module collects the slope structure status and repair information; Each grid in the horizontal axis grid is square and has the same size; During the stage of setting the horizontal axis network above the slope, pick at least 4 points corresponding to the position points included in the slope boundary on a horizontal plane at least 1m vertically above the slope's highest point. Connect the picked points to form a closed area, which will be used as the placement area of ​​the horizontal axis network. The user client simultaneously sets the grid width of the horizontal grid, creates the horizontal grid based on the set width, and then covers the horizontal grid in the placement area. The horizontal grid is then separated based on the placement area by moving the horizontal grid horizontally and vertically, minimizing the area of ​​incomplete grids at the edges of the horizontal grid. This completes the horizontal grid setup. Among them, when setting the points picked up on the horizontal plane, that is, the grid width, the higher the slope stability detection accuracy requirement, the more points picked up on the horizontal plane and the smaller the grid width setting; The collection equipment carried by the drone module includes an ultrasonic ranging sensor and a camera. The ranging end and the camera end of the ultrasonic ranging sensor and the camera are all facing vertically downward. When the drone module carries the collection equipment to collect slope structure status and repair information, the drone module uses each grid as the flight target. Every time it flies to a grid, it collects a sub-slope surface image at the center point of the grid. After the sub-slope surface image is collected, the drone module takes the current location as the starting point and any point on the grid edge as the end point. It flies horizontally around the starting point in a rectangular spiral path with equal step lengths. The pitch of each circle in the path is equal and is set to 1 / 5 to 1 / 10 of the grid width. While flying horizontally around the starting point in a rectangular spiral path with equal step lengths, the drone module continuously measures the distance from itself to the sub-slope surface using an ultrasonic ranging sensor based on a preset frequency. The slope structure status information is the distance measurement result of the ultrasonic ranging sensor, and the slope repair information is the sub-slope surface image captured by the camera; After the sub-slope surface image is collected, segmentation processing is performed synchronously to pick up the sub-slope surface corresponding image in the sub-slope surface image. The segmentation processing operation is as follows: Calculate the sub-slope surface area a1 based on the actual length and width of the sub-slope surface, obtain the area a2 of the real scene corresponding to the sub-slope surface image, calculate the ratio b of a1 to a2, and then segment the sub-slope surface corresponding image at the center of the sub-slope surface image. The length ratio of the corresponding side of the sub-slope surface corresponding image and the sub-slope surface image is equal, so that the ratio of the area of ​​the sub-slope surface corresponding image to the area of ​​the sub-slope surface image is equal to b; The calculation formula for the area a2 of the sub-slope surface image corresponding to the real scene is: ; Where: is the area of ​​the sub-slope surface image corresponding to the real scene; is the width and height of the sub-slope surface image corresponding to the real scene; is the horizontal physical size of the camera sensor and the vertical physical size of the camera sensor; is the object distance; is the focal length of the lens; Among them, object distance The ranging result comes from the ultrasonic ranging sensor's operating perception; Correction processing is performed on the ranging results of the ultrasonic ranging sensor, and the ranging results that have undergone correction processing are simultaneously differentiated and stored based on the sub-slope surface from which they originated. The corresponding images of the sub-slope surface are synchronously stored in the corresponding differentiated storage interval; The correction processing logic of the ultrasonic ranging sensor's ranging results is as follows: ; Where: is the corrected ranging value; is the original distance measurement value; is the average height of weeds on the sub-slope surface; is the density coefficient of weeds; is the ultrasonic penetration coefficient; is the operating frequency of the sensor; is the reference frequency of the sensor; Among them, the ranging result of each ultrasonic ranging sensor is corrected based on the above formula; The above formula corrects the original distance measurement by introducing the average weed height, density coefficient, penetration coefficient, and sensor frequency parameters to eliminate weed interference in ultrasonic ranging. Because ultrasonic waves can be blocked or penetrated by weeds during propagation, the original distance measurement cannot directly reflect the distance from the drone to the actual slope surface. The weed-related parameters in the formula quantify the degree of weeds' impact on ultrasonic waves, while the sensor frequency parameter takes into account the performance differences of the equipment itself. This design combines the physical properties of weeds with the operating characteristics of the sensor, making the corrected distance measurement closer to the actual slope structure and laying the foundation for the subsequent construction of an accurate sub-slope surface model. Average plant height of weeds on the sub-slope is an estimated value, and its value follows: ; Weed density coefficient The value is determined by setting the weed color value determination interval, comparing the color value of each pixel in the sub-slope surface corresponding image with the weed color value determination interval, determining the pixels that meet the weed color value determination interval, and counting the ratio of the number of pixels that meet the weed color value determination interval to the total number of pixels in the sub-slope surface corresponding image, recorded as ; The above formula is based on the biological laws of weed growth. It integrates the theoretical maximum growth height, initial growth rate, growth time, growth fluctuation coefficient, and environmental rhythm influence coefficient of weeds to simulate the weed growth process and estimate the average plant height. Weed growth is influenced by multiple factors such as its own genetic characteristics, accumulated growth time, and environmental fluctuations. By quantifying these factors, the formula can achieve a reasonable estimate of plant height without frequent field measurements. The design logic is based on the characteristics of open-pit mine slopes where real-time field measurement of weed growth is difficult. The biological growth model is linked with environmental factors, providing key parameters for ultrasonic ranging correction, improving the practicality and accuracy of ranging correction. Ultrasonic penetration coefficient The value follows: the thinner the leaves and the looser the texture, the larger the value; the thicker the leaves and the denser the texture, the smaller the value. The value range is [0.1, 0.9]. Where: is the theoretical maximum growth height of this type of weed; is the initial growth rate coefficient; Time from the date of sowing weed seeds to the present; is the growth fluctuation coefficient; is the environmental rhythm influence coefficient; is the environmental rhythm period, which is 24; Initial growth rate coefficient , growth fluctuation coefficient , Environmental rhythm influence coefficient The value of follows: ; Where: The time from sowing to the time when the weeds reach 50% of their maximum height; is the moisture sensitivity coefficient; is the actual soil moisture content; The optimum soil moisture content for the growth of this type of weed; is the species-intrinsic fluctuation constant; is the daily temperature fluctuation amplitude; is the daily average temperature; is the fluctuation attenuation coefficient; is the basic rhythm coefficient; is the actual sunshine duration; The optimal sunshine duration for this type of weed; is the actual ambient temperature; The optimum temperature for the growth of this type of weed; in, Reflects the degree of weeds' dependence on water. , the more weeds depend on water, The larger the value, The moisture content is determined by evenly selecting no less than four test points on the slope surface and then calculating the average value. The fluctuation attenuation coefficient is determined by measuring the average daily fluctuation amplitude of the plant height of this type of weed in the seedling stage under standard environment, with a value range of 0.02~0.15. Determined by the degree of lignification of weed stems, the higher the degree of lignification, the The larger the value, the range is 0.01~0.1, the basic rhythm coefficient The value is determined by the fact that the more sensitive the weed type is to the day-night cycle and the light cycle, the larger the value is, and vice versa. The value range is (0, 0.5); The above formula for the initial growth rate coefficient , growth fluctuation coefficient , Environmental rhythm influence coefficient The value logic of is limited to refine the influence of environmental factors and weed growth characteristics on growth parameters, so that the coefficient value is more in line with the actual growth conditions; The initial growth rate coefficient correlates the time it takes for weeds to reach 50% of their maximum height with soil moisture, reflecting the relationship between the weed's growth rhythm and water supply. The growth fluctuation coefficient combines the species' inherent fluctuation constant with temperature fluctuations, reflecting the impact of temperature changes on growth stability. The environmental rhythm influence coefficient is related to daylight duration and ambient temperature, quantifying the effect of circadian rhythms on growth. This design, by breaking down the key factors affecting weed growth, transforms abstract environmental influences into quantifiable coefficients, providing support for the accurate calculation of average plant height and ensuring that plant height estimates are more consistent with the actual ecological environment of the slope. Set a cycle for the drone to carry the collection equipment to collect slope structure status and repair information, continuously collect the slope structure status and repair information based on the preset settings, and distinguish and store the slope structure status and repair information collected each time; The cycle of collecting slope structure status and repair information by the drone-carried collection equipment is customized by the system end user. When a rainfall event occurs in the area where the slope is located, the rainfall amount is compared with the preset threshold. When the rainfall amount of the rainfall event exceeds the preset threshold, the slope structure status and repair information collection operation is performed after the rainfall event ends. Each group of slope structure status and repair information stored separately includes: the distance measurement results after each correction within the range of each sub-slope surface, and the corresponding image of the sub-slope surface; The distance measurement results after each correction within the sub-slope surface range are expressed based on the sub-slope surface model; The sub-slope surface model is constructed in accordance with the following principles: a rectangular spiral path of equal step length is drawn in three-dimensional space for the drone to fly in the corresponding grid of the sub-slope surface. When the ultrasonic ranging sensor performs ranging operations, its position on the rectangular spiral path of equal step length is perpendicular to the plane defined by the rectangular spiral path of equal step length. A vertical line is drawn using the corrected ranging result. Connect the ends of the perpendicular lines away from the plane defined by the rectangular spiral path of equal step length to form a multi-faceted model composed of multiple faces spliced ​​together, which is recorded as a sub-slope face model; Always use the differentiated and stored slope structure status and repair information, compare the earliest set of slope structure status and repair information with the latest set of slope structure status and repair information to evaluate the slope repair stability; The evaluation operation of slope restoration stability takes each sub-slope surface as an independent evaluation target; The restoration stability assessment operation of each sub-slope surface in the slope is: ; Where: Restoration stability of the sub-slope surface; is the similarity between the earliest sub-slope surface model and the latest sub-slope surface model; The current repair degree of the sub-slope surface; is the earliest restoration degree of the sub-slope surface; is the minimum value; is the weight; It should be noted that Use any similarity evaluation algorithm in the prior art that is adapted to this type of model to perform quantitative evaluation to participate in the calculation process of the formula; Among them, the degree of restoration of the sub-slope surface H is based on the density coefficient of the weeds on the sub-slope surface. Average plant height of weeds The product of is defined, the weight The sum is 1, and the weight value obeys: Based on the above formula In the process, the initial , Continuously decreasing, Continue to add until the initial weight difference is equal to the weight difference after the change. Finalize changes and apply them continuously; The above formula comprehensively evaluates the structural stability of the slope and the effect of ecological restoration. The similarity between the earliest and latest models of the sub-slope surface reflects the structural changes, and the ratio of the current and earliest restoration levels reflects the progress of ecological restoration. At the same time, dynamic weights are introduced to reflect the evaluation focus of different restoration stages. In the early stages of restoration, the weight of structural stability (model similarity) is higher. As the restoration progresses, the weight of the ecological restoration effect (change in restoration level) gradually increases until the difference between the two weights stabilizes. The design logic is that slope stability management needs to take into account both structural safety and ecological restoration. The setting of dynamic weights adapts to the changes in the importance of the two during the restoration process, avoiding the limitations of a single evaluation dimension, making the stability assessment more comprehensive and in line with the actual needs of the entire restoration cycle. Record the slope restoration stability assessment results and monitor the slope restoration stability and safety status based on the assessment results; The operations for monitoring the stability and safety status of slope restoration based on the assessment results are as follows: The latest three calculations Continuous increase indicates that the slope restoration stability is excellent; The latest three calculations Non-continuous increase, and the latest three calculations The latest calculation Greater than the earliest calculated , indicating that the slope repair stability is normal; Other situations indicate that the stability of the slope repair is abnormal or deteriorated.

[0023] In this embodiment, the above method uses drones to precisely collect information on a grid-based basis. Correction processing improves data accuracy, and combined with periodic monitoring and model comparison, it enables dynamic assessment of slope stability. Additional testing after rainfall allows for timely monitoring of changes, enabling precise monitoring of the repair status, effectively ensuring slope repair safety and improving both efficiency and effectiveness.

[0024] The following is an application example of the method in the above embodiment: After mining was completed, an open-pit mine left behind a 200-meter-long and 50-meter-high rock slope. To prevent slope landslides and restore the ecology, the "Open-pit Mine Slope Greening Ecological Restoration Slope Stability Management Method" was adopted for management. The specific implementation process is as follows: 1. Horizontal axis network settings: Carry out the horizontal axis network setting work above the slope: first determine the horizontal plane with a vertical height of 1.2 meters at the highest point of the slope as the reference plane for the axis network layout, pick up 5 points evenly along the edge of the slope, connect these 5 points to form a closed area, and use it as the placement area of ​​the horizontal axis network.

[0025] The user sets the grid width to 0.5 meters, taking into account the high accuracy requirements for slope stability testing. After creating the horizontal grid, fine-tuning is performed horizontally and vertically to minimize the area of ​​incomplete grids at the edges of the grid (ultimately, the incomplete grid area accounts for only 3% of the total grid area), completing the grid setup. The entire slope is now divided into 4,000 square sub-slope surfaces (one sub-slope surface per grid cell).

[0026] 2. UAV information collection: (1) Data collection equipment and path planning: A drone module equipped with an ultrasonic ranging sensor and a high-definition camera is used for data collection. The ranging end of the ultrasonic ranging sensor and the image capture end of the camera are both facing vertically downward.

[0027] The drone uses each grid as its flight target. When it reaches a grid, it first captures an image of the sub-slope surface at the grid center (to record slope restoration information). It then flies horizontally, starting from this center and ending at a point on the grid edge, in a rectangular spiral path with a constant step length (the pitch is set to 0.1 meters, or 1 / 5 of the grid width). During flight, the ultrasonic ranging sensor measures the distance to the sub-slope surface twice per second (to record slope structural status information).

[0028] (II) Collection cycle and handling of special circumstances: The collection cycle was set to once a week. During the treatment period, the area experienced a rainstorm with rainfall reaching 50 mm (the preset threshold is 30 mm). Within 24 hours after the rainstorm ended, an additional information collection operation was performed to ensure that the slope status after the special weather was recorded in a timely manner.

[0029] 3. Information processing and storage: (1) Sub-slope surface image segmentation: After the sub-slope surface image is collected, segmentation processing is performed immediately: first, the actual area of ​​the sub-slope surface is calculated (the actual length and width of a sub-slope surface are 0.5 meters, and the area is 0.25 square meters); then the area of ​​the real scene corresponding to the image is calculated using a formula (calculated to be 0.3 square meters), and the ratio of the actual area to the real scene area is obtained as 0.83.

[0030] Then, at the center of the sub-slope surface image, the corresponding image is segmented in equal proportion (the side lengths of the segmented image and the original image are scaled at the same ratio), so that the ratio of the segmented image area to the original image area is also 0.83, ensuring that the segmented image accurately corresponds to the actual range of the sub-slope surface.

[0031] (2) Correction of ultrasonic ranging results: Correct the original ranging results of the ultrasonic ranging sensor, taking into account factors such as the average plant height, density coefficient, and ultrasonic penetration coefficient of the weeds on the sub-slope surface: The original distance measurement value of a certain sub-slope surface is 8.5 meters; The weeds in this area are native drought-tolerant grass species, with an estimated average plant height of 0.3 meters; Through the analysis of the corresponding image of the sub-slope surface, the proportion of pixels (density coefficient) that meet the weed color judgment range is 60%; The leaves of this type of weed are relatively thin, and the ultrasonic penetration coefficient is 0.7; Considering the relationship between the sensor's operating frequency and the reference frequency, the final corrected ranging value is 8.1 meters.

[0032] The corrected distance measurement results and the segmented images of the corresponding sub-slope surfaces are stored separately according to the sub-slope surface numbers to form each set of complete slope structure status and repair information.

[0033] 4. Construction of sub-slope surface model: In order to intuitively present the slope structure, a sub-slope surface model is constructed based on the collected data: the rectangular spiral flight path of the UAV within a sub-slope surface grid is restored in three-dimensional space. Taking the plane where the path is located as the reference, a vertical line is drawn vertically downward (toward the sub-slope surface) from each ranging point on the path. The length of the vertical line is the corrected ranging value (such as 8.1 meters, 8.2 meters, etc.).

[0034] Connect the endpoints of all perpendicular lines away from the flight path plane in sequence to form a multifaceted model composed of multiple triangles, which is the structural model of the sub-slope surface.

[0035] 5. Slope repair stability assessment: Each sub-slope surface is evaluated independently, and stability is assessed by comparing the earliest and latest sets of information: The information collected at the start of the project (week 1) was selected as the earliest data, and the information collected in week 12 was selected as the latest data; After calculation, the similarity between the earliest model and the latest model of a certain sub-slope surface is 82%; The current repair degree of the sub-slope surface is 0.18, and the earliest repair degree is 0.01; Combined with the weight calculation, the restoration stability value of this sub-slope surface is 0.75.

[0036] According to this method, the stability assessment of all sub-slope surfaces was completed, and the average stability value of the overall slope was 0.72.

[0037] 6. Stability and security situation monitoring: Monitor security status by analyzing the results of the three most recent stability assessments (weeks 10, 11, and 12): The overall stability value was 0.68 in week 10, 0.70 in week 11, and 0.72 in week 12, with the results continuing to increase over the three periods. Based on this judgment, the stability of the slope repair is "excellent".

[0038] In summary, during the execution of the method in the above embodiment, by setting a horizontal axis network to divide the slope surface, and combining the drone module to accurately collect information according to the grid, the refined monitoring of the slope is realized. The combination of its collection equipment and flight path design can comprehensively obtain the slope structure and repair information. The corrected ranging results and image segmentation processing improve the data accuracy, and the sub-slope surface is used as an independent evaluation target. The stability is evaluated by combining specific ranging correction logic, model similarity and repair degree, and the weight is dynamically adjusted to make the evaluation more in line with reality and more valuable for reference. At the same time, the collection cycle is flexibly set, taking into account both conventional and special weather conditions, and the stability and safety status of slope repair can be accurately monitored, providing reliable technical support for the greening ecological restoration and stability management of open-pit mine slopes, effectively ensuring the management effect and slope safety, and real-time full-cycle monitoring of the slope.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for managing slope stability by greening ecological restoration of open-pit mine slopes, characterized in that: include: A horizontal axis grid is set above the slope, and the slope surface is vertically divided based on the axis grid, so that each grid of the axis grid corresponds to a sub-slope surface. The data collection equipment carried by the drone module collects the slope structure status and repair information; Set a cycle for the drone to carry the collection equipment to collect slope structure status and repair information, continuously collect the slope structure status and repair information based on the preset settings, and distinguish and store the slope structure status and repair information collected each time; Always use the differentiated and stored slope structure status and repair information, compare the earliest set of slope structure status and repair information with the latest set of slope structure status and repair information to evaluate the slope repair stability; Record the slope repair stability assessment results and monitor the slope repair stability safety status based on the assessment results.

2. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 1, characterized in that: Each grid in the horizontal axis grid is a square and has the same size; During the stage of setting the horizontal axis network above the slope, pick at least 4 points corresponding to the position points included in the slope boundary on a horizontal plane at least 1m vertically above the slope's highest point. Connect the picked points to form a closed area, which will be used as the placement area of ​​the horizontal axis network. The user client simultaneously sets the grid width of the horizontal grid, creates the horizontal grid based on the set width, and then covers the horizontal grid in the placement area. The horizontal grid is then separated based on the placement area by moving the horizontal grid horizontally and vertically, minimizing the area of ​​incomplete grids at the edges of the horizontal grid. This completes the horizontal grid setup. Among them, when setting the points picked up on the horizontal plane, that is, the grid width, the higher the slope stability detection accuracy requirement is, the more points are picked up on the horizontal plane and the smaller the grid width is set.

3. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 1, characterized in that: The acquisition equipment carried by the drone module includes an ultrasonic ranging sensor and a camera. The ranging end and the camera end of the ultrasonic ranging sensor and the camera are both vertically downward. When the drone module carries the acquisition equipment to collect slope structure status and repair information, the drone module uses each grid as a flight target. Every time it flies to a grid, it collects a sub-slope surface image at the center point of the grid; After the sub-slope surface image is collected, the drone module takes the current location as the starting point and any point on the grid edge as the end point. It flies horizontally around the starting point in a rectangular spiral path with equal step length. The pitch of each circle in the path is equal and is set to 1 / 5 to 1 / 10 of the grid width. While flying horizontally around the starting point in a rectangular spiral path with equal step length, the drone module continuously measures the distance from itself to the sub-slope surface using an ultrasonic ranging sensor based on a preset frequency. The slope structure status information is the ranging result of the ultrasonic ranging sensor, and the slope repair information is the sub-slope surface image captured by the camera.

4. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 3, characterized in that: After the sub-slope surface image is collected, segmentation processing is performed synchronously to pick up the sub-slope surface corresponding image in the sub-slope surface image. The segmentation processing operation is as follows: Calculate the sub-slope surface area a1 based on the actual length and width of the sub-slope surface, obtain the area a2 of the real scene corresponding to the sub-slope surface image, calculate the ratio b of a1 to a2, and then segment the sub-slope surface corresponding image at the center of the sub-slope surface image. The length ratio of the corresponding side of the sub-slope surface corresponding image and the sub-slope surface image is equal, so that the ratio of the area of ​​the sub-slope surface corresponding image to the area of ​​the sub-slope surface image is equal to b; The calculation formula for the area a2 of the sub-slope surface image corresponding to the real scene is: ； Where: is the area of ​​the sub-slope surface image corresponding to the real scene; is the width and height of the sub-slope surface image corresponding to the real scene; is the horizontal physical size of the camera sensor and the vertical physical size of the camera sensor; is the object distance; is the focal length of the lens; Among them, object distance The ranging result comes from the ultrasonic ranging sensor's operating perception.

5. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 4, characterized in that: The ranging results of the ultrasonic ranging sensor are corrected, and the ranging results after the correction process are differentiated and stored based on the sub-slope surface from which they originate, and the corresponding images of the sub-slope surface are synchronously stored in the corresponding differentiated storage interval; The correction processing logic of the ranging result of the ultrasonic ranging sensor is: ； Where: is the corrected ranging value; is the original distance measurement value; is the average height of weeds on the sub-slope surface; is the density coefficient of weeds; is the ultrasonic penetration coefficient; is the operating frequency of the sensor; is the reference frequency of the sensor; The distance measurement result of each ultrasonic distance measurement sensor is corrected based on the above formula.

6. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 5, characterized in that: The average plant height of weeds on the sub-slope is an estimated value, and its value follows: ； Density coefficient of the weeds The value is determined by setting the weed color value determination interval, comparing the color value of each pixel in the sub-slope surface corresponding image with the weed color value determination interval, determining the pixels that meet the weed color value determination interval, and counting the ratio of the number of pixels that meet the weed color value determination interval to the total number of pixels in the sub-slope surface corresponding image, recorded as ; The ultrasonic penetration coefficient The value follows: the thinner the leaves and the looser the texture, the larger the value; the thicker the leaves and the denser the texture, the smaller the value. The value range is [0.1, 0.9]. Where: is the theoretical maximum growth height of this type of weed; is the initial growth rate coefficient; Time from the date of sowing weed seeds to the present; is the growth fluctuation coefficient; is the environmental rhythm influence coefficient; is the environmental rhythm period, which is 24.

7. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 6, characterized in that: The initial growth rate coefficient , growth fluctuation coefficient , Environmental rhythm influence coefficient The value of follows: ； Where: The time from sowing to the time when the weeds reach 50% of their maximum height; is the moisture sensitivity coefficient; is the actual soil moisture content; The optimum soil moisture content for the growth of this type of weed; is the species-intrinsic fluctuation constant; is the daily temperature fluctuation amplitude; is the daily average temperature; is the fluctuation attenuation coefficient; is the basic rhythm coefficient; is the actual sunshine duration; The optimal sunshine duration for this type of weed; is the actual ambient temperature; The optimum temperature for the growth of this type of weed; in, Reflects the degree of weeds' dependence on water. , the more weeds depend on water, The larger the value, The moisture content is determined by evenly selecting no less than four test points on the slope surface and then calculating the average value. The fluctuation attenuation coefficient is determined by measuring the average daily fluctuation amplitude of the plant height of this type of weed in the seedling stage under standard environment, with a value range of 0.02~0.

15. Determined by the degree of lignification of weed stems, the higher the degree of lignification, the The larger the value, the range is 0.01~0.1, the basic rhythm coefficient The value is determined by the fact that the more sensitive the weed type is to the day-night cycle and the changes in the light cycle, the larger the value is, and vice versa. The value range is (0, 0.5).

8. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 1, characterized in that: The cycle of collecting slope structure status and repair information carried by the drone is customized by the system end user, and when a rainfall event occurs in the area where the slope is located, the rainfall amount is compared with a preset threshold. When the rainfall amount of the rainfall event exceeds the preset threshold, the slope structure status and repair information is collected once after the rainfall event ends. Each group of slope structure status and repair information stored separately includes: the distance measurement results after each correction within the range of each sub-slope surface, and the corresponding image of the sub-slope surface; The distance measurement results after each correction within the sub-slope surface are represented based on the sub-slope surface model; The sub-slope surface model is constructed in accordance with the following principles: a rectangular spiral path of equal step length is drawn in three-dimensional space for the drone to fly in the corresponding grid of the sub-slope surface. When the ultrasonic ranging sensor performs ranging operations, its position on the rectangular spiral path of equal step length is perpendicular to the plane defined by the rectangular spiral path of equal step length. A vertical line is drawn using the corrected ranging result. The ends of the perpendicular lines away from the plane defined by the rectangular spiral path of equal step length are connected adjacently to each other to form a multi-face model composed of multiple faces spliced ​​together, which is recorded as a sub-slope face model.

9. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 1, characterized in that: The slope restoration stability assessment operation uses each sub-slope surface as an independent assessment target; The restoration stability assessment operation of each sub-slope surface in the slope is as follows: ； Where: Restoration stability of the sub-slope surface; is the similarity between the earliest sub-slope surface model and the latest sub-slope surface model; The current repair degree of the sub-slope surface; is the earliest restoration degree of the sub-slope surface; is the minimum value; is the weight; Among them, the degree of restoration of the sub-slope surface H is based on the density coefficient of the weeds on the sub-slope surface. Average plant height of weeds The product of is defined, the weight The sum is 1, and the weight value obeys: Based on the above formula In the process, the initial , Continuously decreasing, Continue to add until the initial weight difference is equal to the weight difference after the change. Finalize the changes and apply them persistently.

10. The method for managing slope stability by greening ecological restoration of open-pit mine slopes according to claim 1, characterized in that: The operations for monitoring the stability and safety status of slope restoration based on the assessment results are as follows: The latest three calculations Continuous increase indicates that the slope restoration stability is excellent; The latest three calculations Non-continuous increase, and the latest three calculations The latest calculation Greater than the earliest calculated , indicating that the slope repair stability is normal; Other situations indicate that the stability of the slope repair is abnormal or deteriorated.

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