Corner reflector based slope radar accuracy correction monitoring system and method

Abstract

The application discloses a corner reflector-based slope radar precision correction monitoring system and method, which comprises constructing an initial map between a corner reflector and a radar scanning angle, and constructing an initial slope state map between a displacement amount / strain rate of each monitoring point of a monitored area and the radar scanning angle; when the slope radar is in a precision correction mode, the slope radar sequentially acquires each corner reflector monitored based on a set rotation angle and forms a corner reflector real-time map, and determines a displacement deviation existing in the slope radar itself based on a position difference between the initial map and the corner reflector real-time map; when the slope radar is in a dynamic monitoring mode, a real-time slope state map of the monitored area is formed, a real-time slope state map after angle compensation is regenerated, and the real-time slope state map after compensation correction is compared with the initial slope state map point by point to determine the change of the monitored slope; and the application improves the monitoring precision of a mine pit slope.

Description

Technical Field

[0001] This invention relates to the field of slope radar technology, and more specifically to a slope radar accuracy correction and monitoring system and method based on corner reflectors. Background Technology

[0002] Slope radar is used for accident monitoring of mine slopes. This technology has been widely applied. Most existing technologies directly use slope radar to monitor mine slopes to identify whether the mine slopes have collapsed or deformed.

[0003] However, in the existing technology, when using slope radar to directly monitor the slope of a mine pit, the uneven surface of the slope results in poor stability of the radar receiving reflected waves and low intensity of the reflected waves, which easily leads to poor slope monitoring accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a slope radar accuracy correction and monitoring system and method based on corner reflectors, in order to solve the technical problem that when using slope radar to directly monitor mine slopes in the prior art, the uneven surface of the mine slope leads to poor stability of the radar receiving reflected waves and low intensity of the reflected waves, which easily causes poor slope monitoring accuracy.

[0005] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution:

[0006] A slope radar accuracy correction and monitoring system based on corner reflectors includes:

[0007] A slope radar is set on the opposite side of the monitored slope, and multiple corner reflectors are installed on the monitored slope, with a different distance between each corner reflector and the slope radar;

[0008] The slope radar is connected to a dual-mode control system, which includes a precision correction mode and a dynamic monitoring mode. The dual-mode control system regulates the automatic switching between the precision correction mode and the dynamic monitoring mode according to a set periodic pattern.

[0009] Among them, based on the mapping relationship between the radar scanning angle and the corner reflector, an initial map between the corner reflector and the radar scanning angle is constructed, and an initial slope state map between the displacement / deformation rate of each monitoring point in the monitored area and the radar scanning angle is constructed.

[0010] When the slope radar is in the accuracy correction mode, the slope radar performs a step scan on the monitored slope. The slope radar sequentially acquires each monitored corner reflector based on the set rotation angle and forms a real-time map of the corner reflectors. Based on the position difference between the initial map and the real-time map of the corner reflectors, the displacement deviation of the slope radar itself is determined.

[0011] When the slope radar is in dynamic monitoring mode, it continuously scans the monitored slope to form a real-time slope status map of the monitored area. The dual-mode control system compensates the radar scanning angle corresponding to each monitoring point in the real-time slope status map according to the displacement deviation, and regenerates the angle-compensated real-time slope status map. The compensated real-time slope status map is then compared point-to-point with the initial slope status map to determine the changes in the monitored slope.

[0012] As a preferred embodiment of the present invention, the corner reflector is fixed on the monitored slope by a hoisting method, and the corner reflector always remains in its original position and does not move or deform synchronously with the monitored slope.

[0013] The distance between each corner reflector and the slope radar is different, and the identity of the corner reflector is identified based on the distance between the corner reflector and the slope radar.

[0014] In addition, the present invention also provides a slope radar accuracy correction and monitoring method based on corner reflectors, comprising the following steps:

[0015] After installing the slope radar and corner reflectors, based on the mapping relationship between the radar scanning angle and the corner reflector, an initial map between the corner reflector and the radar scanning angle is constructed, and an initial slope status map between the monitoring points in the monitored area and the radar scanning angle is constructed.

[0016] The slope radar is switched to accuracy correction mode. The slope radar sequentially emits radar waves to scan the monitored area in steps according to a set angle range. The radar scanning angle corresponding to the corner reflector is determined when the slope radar detects the corner reflector. The identity of the detected corner reflector is distinguished based on the distance between the corner reflector and the slope radar, and a real-time map of the corner reflector is formed. Based on the radar scanning angle of the corner reflector in the real-time map of the corner reflector and the radar scanning angle of the corner reflector in the initial map, the displacement deviation of the slope radar itself is determined.

[0017] The slope radar is switched to dynamic monitoring mode. The slope radar continuously scans the monitored area to form a real-time slope status map. The real-time slope status map is then corrected and compensated based on the displacement deviation.

[0018] The real-time slope condition map after correction and compensation is compared point-to-point with the initial slope condition map, and the displacement and / or deformation of the monitored area are determined based on the real-time distance difference of the same monitoring point.

[0019] The accuracy correction mode and dynamic monitoring mode of the slope radar are automatically switched according to a set periodic pattern to provide real-time feedback correction for the monitoring accuracy of the slope radar.

[0020] As a preferred embodiment of the present invention, the method for constructing the initial spectrum between the corner reflector and the radar scanning angle is as follows:

[0021] The slope radar sequentially scans the monitored area by emitting radar waves according to a set angle range.

[0022] Based on the intensity of the received radar echo, the radar scanning angle corresponding to when the slope radar detects the corner reflector is determined;

[0023] The detected corner reflectors are arranged in a matrix, and the distance between each corner reflector and the slope radar is marked to distinguish the identity of each corner reflector. An initial map between the corner reflector and the radar scanning angle is formed by combining the radar scanning angle corresponding to each corner reflector.

[0024] As a preferred embodiment of the present invention, the method for constructing the initial slope state map between the monitoring points and the radar scanning angle of the monitored area is as follows:

[0025] The slope radar is used to continuously scan the monitored area, and the monitoring point corresponding to each radar scanning angle in the monitored area is determined by combining the rotation angle of the slope radar.

[0026] Based on the radar echoes received by the slope radar at each radar scanning angle, the displacement / deformation rate of each monitoring point calculated by the slope radar is calculated, forming an initial slope state map between each monitoring point and the radar scanning angle corresponding to each monitoring point.

[0027] As a preferred embodiment of the present invention, before switching the slope radar to the accuracy correction mode, each corner reflector is determined based on the received radar echo intensity in the real-time slope status map corresponding to the switch from the slope radar to the dynamic monitoring mode, and the distance between each corner reflector and the slope radar is determined.

[0028] After switching the slope radar to accuracy correction mode, the distance between each corner reflector and the slope radar is obtained from the real-time slope status map, and the initial map is updated.

[0029] As a preferred embodiment of the present invention, the method for determining the displacement deviation inherent in the slope radar itself is as follows:

[0030] The slope radar transmits radar waves sequentially to monitor the monitored area according to a set angle range. Based on the radar scanning angle corresponding to the radar echo received by the slope radar and the intensity corresponding to the radar echo received by the slope radar, it is determined whether the current monitoring point of the slope radar is the installation position of the corner reflector.

[0031] When the current monitoring point of the slope radar is the installation location of the corner reflector, the identity of the corner reflector is determined according to the distance between the corner reflector and the slope radar, and the radar scanning angle corresponding to the same corner reflector in the initial map is determined;

[0032] Based on the radar scanning angle corresponding to the initial map of the same corner reflector and the radar scanning angle corresponding to the real-time map of the corner reflector, the displacement deviation of the slope radar itself is determined.

[0033] As a preferred embodiment of the present invention, the monitoring starting point of the monitored area is taken as the starting point of the slope radar, and the radar scanning angle of the slope radar is expressed as: ( , ),in, The horizontal lateral swing angle is represented by , and ... Indicates the longitudinal pitch and sway angle. The longitudinal pitch swing step size of the slope radar is given.

[0034] The radar scanning angle corresponding to corner reflector m in the real-time map of the corner reflector is represented as: ( ], m]);

[0035] In the initial map, a corner reflector n is identified that is identical to corner reflector m, and the radar scanning angle corresponding to corner reflector n in the initial map is expressed as: ( ,

[0036] Determine the horizontal and lateral displacement deviation inherent in the slope radar itself. = m]-

[0037] Displacement deviation = -

[0038] As a preferred embodiment of the present invention, the method for correcting and compensating the real-time slope condition map in conjunction with displacement deviation is as follows:

[0039] If the horizontal displacement deviation If the value is greater than 0, it indicates that the slope radar has shifted to the left, and the horizontal displacement deviation is subtracted from the radar scan angle of all monitoring points in the real-time slope status map. To compensate for the horizontal and lateral displacement of the slope radar itself;

[0040] Conversely, if the horizontal displacement deviation... If the value is less than 0, it indicates that the slope radar has shifted to the right, and the horizontal displacement deviation is added to the radar scanning angle of all monitoring points in the real-time slope status map. To compensate for the horizontal and lateral displacement of the slope radar itself;

[0041] If the longitudinal pitch displacement deviation If the value is greater than 0, it indicates that the slope radar has shifted upwards, and the horizontal displacement deviation is subtracted from the radar scan angle of all monitoring points in the real-time slope status map. To compensate for the longitudinal pitch shift inherent in the slope radar itself;

[0042] Conversely, if the longitudinal pitch displacement deviation... If the value is less than 0, it indicates that the slope radar has shifted downwards, and the longitudinal pitch displacement deviation is added to the radar scanning angle of all monitoring points in the real-time slope status map. This is to compensate for the longitudinal pitch shift inherent in the slope radar itself.

[0043] As a preferred embodiment of the present invention, the method for determining the displacement and / or deformation of the monitored area based on the real-time distance difference of the same monitoring point is as follows:

[0044] The real-time slope condition map represents the distribution location of each monitoring point in the monitored area. The real-time slope condition map is a monitoring point distribution matrix, and each monitoring point in the monitoring point distribution matrix is ​​associated with the displacement / deformation rate of that monitoring point.

[0045] The real-time slope condition map after correction and compensation is compared with the initial slope condition map point by point to determine whether each monitoring point has moved or deformed.

[0046] Early warning is issued based on the calculated movement or deformation of each monitoring point.

[0047] Compared with the prior art, the present invention has the following advantages:

[0048] This invention utilizes the ability of corner reflectors to enhance the intensity of radar echoes, using corner reflectors as a marker factor to determine whether the slope radar itself has shifted. After deploying the slope radar and corner reflectors, the entire control system undergoes radar accuracy correction. Based on the difference in radar scanning angle between the real-time and initial maps of the corner reflectors corresponding to the same corner reflector, the displacement deviation of the slope radar itself is calculated. This corrects the real-time slope status map generated during formal slope monitoring. The corrected and compensated real-time slope status map can be compared with the initial slope status map to determine whether each monitoring point has moved or deformed. Therefore, it avoids monitoring errors in the monitored area caused by the offset of the slope radar installation position, improving the monitoring accuracy of mine slopes. Attached Figure Description

[0049] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0050] Figure 1 This is a block diagram of the overall structure of the slope radar monitoring system according to an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the overall process of the slope radar monitoring method according to an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the initial spectrum in an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram illustrating the matching of the initial spectrum with the real-time spectrum of the corner reflector in an embodiment of the present invention;

[0054] The labels in the diagram represent the following:

[0055] Dual-mode control system; 2-slope radar; 3-corner reflector;

[0056] Precision correction mode; 12-Dynamic monitoring mode. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] like Figure 1 As shown, the present invention provides a slope radar accuracy correction and monitoring system based on corner reflectors. The system is characterized by including a slope radar 2 set on the opposite side of the monitored slope and multiple corner reflectors 3 installed on the monitored slope, wherein the distance between each corner reflector 3 and the slope radar 2 is different.

[0059] The slope radar 2 is connected to a dual-mode control system 1, which includes a precision correction mode 11 and a dynamic monitoring mode 12. The dual-mode control system 1 automatically switches between the precision correction mode 11 and the dynamic monitoring mode 12 according to a set periodic pattern.

[0060] Specifically, based on the mapping relationship between the radar scanning angle and the corner reflector, an initial map between the corner reflector and the radar scanning angle is constructed.

[0061] When the slope radar 2 is in the accuracy correction mode 11, the slope radar 2 performs a step scan on the monitored slope. The slope radar 2 acquires each monitored corner reflector in sequence based on the set rotation angle and forms a real-time map of the corner reflectors. Based on the position difference between the initial map and the real-time map of the corner reflectors, the displacement deviation of the slope radar 2 itself is determined.

[0062] When the slope radar 2 is in dynamic monitoring mode 12, the slope radar 2 continuously scans the monitored slope to form a real-time slope status map of the monitored area. The dual-mode control system 1 compensates the radar scanning angle corresponding to each monitoring point in the real-time slope status map according to the displacement deviation, and regenerates the angle-compensated real-time slope status map. The compensated real-time slope status map is then compared point-to-point with the initial slope status map to determine the changes in the monitored slope.

[0063] Most existing technologies directly use slope radar to monitor mine slopes for accidents. However, since the slope radar is installed on the opposite slope of the monitored slope, it may experience slight deformation or displacement. Therefore, even if the rotation angle of the slope radar is the same, the monitoring position of the slope radar will shift, which may lead to misjudgment of accidents on the monitored slope and affect the accuracy of slope monitoring.

[0064] Therefore, in order to solve this problem, this embodiment installs a corner reflector on the monitored slope. When the radar electromagnetic wave scans the corner reflection, the electromagnetic wave will be refracted and amplified at the metal corner, generating a strong echo signal. A strong echo target appears on the radar screen. Therefore, the corner reflector can be used as a calibration object for slope radar position correction.

[0065] This implementation determines whether the slope radar has detected the location of the corner reflector based on the intensity of the echo signal received by the slope radar. For example, when the slope radar monitors the monitored area sequentially according to the set rotation angle, if the intensity of the received radar echo is significantly enhanced, it indicates that the slope radar has detected the corner reflector at the current radar scanning angle.

[0066] Since the corner reflector is installed on the slope of the mine, in order to ensure that the corner reflector can characterize whether the installation position of the slope radar has shifted or deformed, the structural volume of the corner reflector must be as small as possible; otherwise, it will be difficult to monitor changes in the installation position of the slope radar.

[0067] Meanwhile, the corner reflector 3 is fixed to the monitored slope by hoisting, and the corner reflector 3 always remains in its original position and does not move or deform synchronously with the monitored slope. Therefore, when the slope radar monitors the monitored area according to the same set rotation angle range, the difference in radar scanning angle of the slope radar corresponding to the same corner reflector is used to determine whether the slope radar itself has a displacement deviation. When the slope radar itself has a displacement deviation, the monitoring position in the monitoring result of the slope radar on the monitored area is corrected and compensated. The corrected and compensated monitoring position corresponds one-to-one with the initial monitoring position. By statistically analyzing the change in displacement / deformation rate at each monitoring position, the slope displacement or deformation can be predicted.

[0068] Based on the above, this embodiment needs to determine whether the slope radar 2 can accurately illuminate the corner reflector when it emits radar waves at a certain angle according to a matching angle during repeated cyclic monitoring of the mine slope, so as to avoid errors in monitoring the mine slope due to system errors of the drive rotation component of the slope radar 2.

[0069] To address the aforementioned issues, this implementation method divides the monitoring work of the slope radar 2 into two parts: preliminary accuracy calibration and subsequent real-time monitoring.

[0070] First, the slope radar 2 is scanned step by step in the monitored area to obtain the initial spectrum between the corner reflector and the radar scanning angle. It can also obtain the initial slope state spectrum between the displacement / deformation rate of each monitoring point in the monitored area and the radar scanning angle.

[0071] Then, in precision correction mode 11, the slope radar is used to monitor the monitored area and generate a real-time map of corner reflectors. Based on the corner reflector corresponding to each corner reflector monitored by the slope radar in the initial map, the radar scanning angle when the slope radar monitors each corner reflector and the radar scanning angle of that corner reflector in the initial map can be determined. Based on the radar scanning angle corresponding to the same corner reflector in the initial map and the real-time map of corner reflectors, the displacement deviation caused by the installation position of the slope radar can be determined.

[0072] Because the slope radar itself has displacement deviation, when the slope radar is in dynamic monitoring mode 12, each monitoring point in the real-time slope status map it monitors has an error. Therefore, after each monitoring point is corrected and compensated according to the displacement deviation caused by the installation position of the slope radar, the real-time slope status map after compensation and correction can be compared point-to-point with the initial slope status map to determine the changes of the monitored slope.

[0073] In order to obtain the identity of each corner reflector monitored by the slope radar when constructing the real-time map of corner reflectors, the distance between each corner reflector 3 and the slope radar is different, and the identity of the corner reflector 3 is identified based on the distance between the corner reflector 3 and the slope radar.

[0074] The system identifies the identity of each corner reflector 3 in the real-time corner reflector map and the radar scanning angle corresponding to the corner reflector 3 when it is detected in the real-time corner reflector map. Based on the identity of each corner reflector 3, the system matches the corner reflector in the real-time corner reflector map and the radar scanning angle corresponding to the corner reflector in the real-time corner reflector map. Based on the difference in different radar scanning angles of the same corner reflector 3 in the initial map and the real-time corner reflector map, the system determines the displacement deviation of the slope radar 2 itself.

[0075] Other examples Figure 2 As shown, the present invention also specifically discloses a slope radar accuracy correction and monitoring method based on corner reflectors, including the following steps:

[0076] S1. After installing the slope radar and corner reflector, based on the mapping relationship between the radar scanning angle and the corner reflector, construct the initial map between the corner reflector and the radar scanning angle, and construct the initial slope status map between the monitoring points in the monitored area and the radar scanning angle.

[0077] S2. Switch the slope radar to the accuracy correction mode. The slope radar emits radar waves to scan the monitored area step by step according to the set angle range. Determine the radar scanning angle corresponding to the corner reflector when the slope radar detects it. Based on the distance between the corner reflector and the slope radar, distinguish the identity of the detected corner reflector and form a real-time map of the corner reflector. Based on the radar scanning angle corresponding to the detected corner reflector in the real-time map of the corner reflector and the radar scanning angle corresponding to the corner reflector in the initial map, determine the displacement deviation of the slope radar itself.

[0078] S3. Switch the slope radar to dynamic monitoring mode. The slope radar continuously scans the monitored area to form a real-time slope status map. Combine the displacement deviation to correct and compensate the radar scanning angle of the real-time slope status map.

[0079] S4. Compare the real-time slope condition map after correction and compensation with the initial slope condition map point by point, and determine the displacement and / or deformation of the monitored area based on the real-time distance difference of the same monitoring point.

[0080] S5. Automatically switch between the accuracy correction mode and dynamic monitoring mode of the slope radar according to a set cycle to provide real-time feedback correction for the monitoring accuracy of the slope radar.

[0081] The method for constructing the initial map between the corner reflector and the radar scanning angle is as follows:

[0082] The slope radar sequentially scans the monitored area by emitting radar waves according to a set angle range.

[0083] Based on the intensity of the received radar echo, determine the radar scanning angle corresponding to when the slope radar detects the corner reflector;

[0084] The detected corner reflectors are arranged in a matrix, and the distance between each corner reflector and the slope radar is marked to distinguish the identity of each corner reflector. The initial map between the corner reflector and the radar scanning angle is formed by combining the radar scanning angle corresponding to each corner reflector.

[0085] like Figure 3 As shown, the initial map is specifically a relationship between three-dimensional parameters, specifically the relationship between the identity of the corner reflector, the radar scanning angle, and the distance between each corner reflector and the slope radar.

[0086] The method for constructing the initial slope state map between the monitoring points and the radar scanning angle of the monitored area is as follows:

[0087] The slope radar is used to continuously scan the monitored area, and the monitoring point corresponding to each radar scanning angle in the monitored area is determined by combining the rotation angle of the slope radar.

[0088] Based on the radar echoes received by the slope radar at each radar scanning angle, the displacement / deformation rate of each monitoring point calculated by the slope radar is calculated, forming an initial slope state map between each monitoring point and the radar scanning angle corresponding to each monitoring point.

[0089] Multiple radar scanning angles are selected at the locations corresponding to the monitored area as monitoring points. An initial slope state map is constructed between each monitoring point and its corresponding radar scanning angle. This map also includes the displacement / deformation rate of each monitoring point. Therefore, the initial slope state map is also a relationship between three-dimensional parameters, specifically the relationship between the monitoring point, the radar scanning angle corresponding to each monitoring point, and the displacement / deformation rate of each monitoring point.

[0090] It should also be noted that, although in order to identify the different corner reflectors, the position of each corner reflector in the monitored area is set to remain relatively constant, and the distance between each corner reflector and the slope radar remains constant, if the installation position of the slope radar itself shifts, causing a change in the distance between the slope radar position and the monitored area where the corner reflector is located, then when the slope radar switches to the accuracy correction mode and generates a real-time map of the corner reflectors, the distance between the corner reflectors and the slope radar will change, making it impossible to identify the corner reflectors based on the distance between the corner reflectors and the slope radar from the initial map.

[0091] Therefore, in order to avoid the above-mentioned problems, this embodiment determines each corner reflector based on the received radar echo intensity in the real-time slope status map corresponding to the switch from slope radar to dynamic monitoring mode before switching the slope radar to the accuracy correction mode each time, and determines the distance between each corner reflector and the slope radar.

[0092] Before switching the slope radar to accuracy correction mode, the distance between each corner reflector and the slope radar will be obtained from the real-time slope status map to update the initial map.

[0093] By updating the spacing between each corner reflector and the slope radar in the initial map, even if the spacing between the corner reflector and the slope radar changes, the identity of the corner reflector can still be identified from the initial map based on the spacing between the corner reflector and the slope radar.

[0094] Furthermore, the method for determining the displacement deviation inherent in the slope radar itself is as follows:

[0095] The slope radar transmits radar waves sequentially to monitor the monitored area according to a set angle range. Based on the radar scanning angle and intensity of the radar echo received by the slope radar, it determines whether the current monitoring point of the slope radar is the installation location of the corner reflector.

[0096] When the current monitoring point of the slope radar is the installation location of the corner reflector, the identity of the corner reflector is determined based on the distance between the corner reflector and the slope radar, and the radar scanning angle corresponding to the same corner reflector in the initial map is determined;

[0097] Based on the radar scanning angle corresponding to the initial map of the same corner reflector, and the radar scanning angle corresponding to the real-time map of the corner reflector, the displacement deviation of the slope radar itself is determined.

[0098] For example Figure 4 As shown, the starting point of the monitored area is taken as the starting point of the slope radar, and the radar scanning angle of the slope radar is expressed as: ( , ) The horizontal lateral swing angle is represented by , and ... Indicates the longitudinal pitch and sway angle. The longitudinal pitch swing step size of the slope radar is given.

[0099] The radar scanning angle corresponding to corner reflector m in the real-time map of the corner reflector is represented as: ( ], m]);

[0100] In the initial map, a corner reflector n is identified that is identical to corner reflector m, and the radar scanning angle corresponding to corner reflector n in the initial map is expressed as: ( ,

[0101] Determine the horizontal and lateral displacement deviation inherent in the slope radar itself. = m]- ;

[0102] The slope radar itself has a longitudinal pitch displacement deviation. = -

[0103] In other words, once the initial map is obtained, the slope radar can be switched to dynamic monitoring mode. The slope radar continuously scans the monitored area to form a real-time slope status map. At this time, by default, the real-time slope status map corresponds one-to-one with the monitoring points in the initial slope status map. Each monitoring point is compared point-to-point to determine the change in displacement / deformation rate of each monitoring point, so as to determine whether each monitoring point has moved or deformed. Based on the calculated amount of movement or deformation of each monitoring point, an early warning is issued.

[0104] Before switching the slope radar to accuracy correction mode, the distance between each corner reflector and the slope radar will be obtained from the real-time slope status map to update the initial map.

[0105] After the slope radar switches to the accuracy correction mode, it sequentially transmits radar waves to scan the monitored area according to the set angle range. Based on the radar echo intensity of the slope radar, it identifies corner reflectors and forms a real-time map of corner reflectors. Based on the distance between each corner reflector and the slope radar, it identifies the identity of each corner reflector from the initial map. Based on the difference between the radar scanning angle corresponding to each corner reflector in the real-time map and the radar scanning angle corresponding to the corner reflector in the initial map, it determines the displacement deviation of the slope radar itself.

[0106] After the slope radar switches to dynamic monitoring mode, the real-time slope status map generated by each monitoring is corrected and compensated to correct the offset of the monitoring points caused by the offset of the slope radar itself, so as to ensure that the real-time slope status map corresponds one-to-one with the monitoring points in the initial slope status map. Based on the change of displacement / deformation rate of each corresponding monitoring point, it is determined whether each monitoring point has moved or deformed.

[0107] The method for correcting and compensating for real-time slope condition maps by incorporating displacement deviations is as follows:

[0108] The method for correcting and compensating the real-time slope condition map based on displacement deviation is as follows:

[0109] If the horizontal displacement deviation If the value is greater than 0, it indicates that the slope radar has shifted to the left, and the horizontal displacement deviation is subtracted from the radar scan angle of all monitoring points in the real-time slope status map. To compensate for the horizontal and lateral displacement of the slope radar itself;

[0110] Conversely, if the horizontal displacement deviation... If the value is less than 0, it indicates that the slope radar has shifted to the right, and the horizontal displacement deviation is added to the radar scanning angle of all monitoring points in the real-time slope status map. To compensate for the horizontal and lateral displacement of the slope radar itself;

[0111] If the longitudinal pitch displacement deviation If the value is greater than 0, it indicates that the slope radar has shifted upwards, and the horizontal displacement deviation is subtracted from the radar scan angle of all monitoring points in the real-time slope status map. To compensate for the longitudinal pitch shift inherent in the slope radar itself;

[0112] Conversely, if the longitudinal pitch displacement deviation... If the value is less than 0, it indicates that the slope radar has shifted downwards, and the longitudinal pitch displacement deviation is added to the radar scanning angle of all monitoring points in the real-time slope status map. This is to compensate for the longitudinal pitch shift inherent in the slope radar itself.

[0113] Based on the above, the calculated horizontal lateral displacement deviation and longitudinal pitch displacement deviation The radar scanning angle of all monitoring points in the real-time slope condition map is corrected. Since each radar scanning angle corresponds to a monitoring point, it also means that the position of the monitoring point is corrected.

[0114] The method for determining the displacement and / or deformation of the monitored area based on the real-time distance difference of the same monitoring point is as follows:

[0115] The real-time slope condition map represents the distribution location of each monitoring point in the monitored area. The real-time slope condition map is a monitoring point distribution matrix, and each monitoring point in the monitoring point distribution matrix is ​​associated with its displacement / deformation rate.

[0116] The real-time slope condition map after correction and compensation is compared with the initial slope condition map point by point to determine whether each monitoring point has moved or deformed.

[0117] Early warning is issued based on the calculated movement or deformation of each monitoring point.

[0118] This implementation method utilizes the ability of corner reflectors to enhance the intensity of radar echoes, using corner reflectors as a marker factor to determine whether the slope radar itself has shifted. After deploying the slope radar and corner reflectors, radar accuracy correction is performed on the entire control system. Based on the difference in radar scanning angle between the real-time and initial maps of the corner reflectors corresponding to the same corner reflector, the displacement deviation of the slope radar itself is calculated. This corrects the real-time slope status map generated during formal slope monitoring. The corrected and compensated real-time slope status map can achieve a point-to-point displacement / deformation rate comparison with the initial slope status map to determine whether each monitoring point has moved or deformed. Therefore, it avoids monitoring errors in the monitored area caused by the offset of the slope radar installation position, improving the monitoring accuracy of the mine slope.

[0119] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A slope radar accuracy correction and monitoring system based on corner reflectors, characterized in that, include: A slope radar (2) is set on the opposite side of the monitored slope, and multiple corner reflectors (3) are installed on the monitored slope, with each corner reflector (3) having a different distance from the slope radar (2); The corner reflector (3) is fixed on the monitored slope by hoisting, and the corner reflector (3) always remains in its original position and does not move or deform synchronously with the monitored slope. The distance between each corner reflector (3) and the slope radar is different, and the identity of the corner reflector (3) is identified based on the distance between the corner reflector (3) and the slope radar; The slope radar (2) is connected to a dual-mode control system (1), which includes a precision correction mode (11) and a dynamic monitoring mode (12). The dual-mode control system (1) regulates the precision correction mode (11) and the dynamic monitoring mode (12) to automatically switch according to a set periodic pattern. Among them, based on the mapping relationship between the radar scanning angle and the corner reflector, an initial map between the corner reflector and the radar scanning angle is constructed, and an initial slope state map between the displacement / deformation rate of each monitoring point in the monitored area and the radar scanning angle is constructed. When the slope radar (2) is in the accuracy correction mode (11), the slope radar (2) performs step scans on the monitored slope. The slope radar (2) acquires each monitored corner reflector in sequence based on the set rotation angle and forms a real-time map of the corner reflector. Based on the position difference between the initial map and the real-time map of the corner reflector, the displacement deviation of the slope radar (2) itself is determined. When the slope radar (2) is in dynamic monitoring mode (12), the slope radar (2) continuously scans the monitored slope to form a real-time slope status map of the monitored area. The dual-mode control system (1) compensates the radar scanning angle corresponding to each monitoring point in the real-time slope status map according to the displacement deviation, regenerates the angle-compensated real-time slope status map, and compares the compensated real-time slope status map with the initial slope status map point by point to determine the changes of the monitored slope.

2. A slope radar accuracy correction and monitoring method based on corner reflectors, characterized in that, The slope radar accuracy correction and monitoring system based on corner reflectors according to claim 1 includes the following steps: After installing the slope radar and corner reflectors, based on the mapping relationship between the radar scanning angle and the corner reflector, an initial map between the corner reflector and the radar scanning angle is constructed, and an initial slope status map between the monitoring points in the monitored area and the radar scanning angle is constructed. The slope radar is switched to accuracy correction mode. The slope radar sequentially emits radar waves to scan the monitored area in steps according to a set angle range. The radar scanning angle corresponding to the corner reflector is determined when the slope radar detects the corner reflector. The identity of the detected corner reflector is distinguished based on the distance between the corner reflector and the slope radar, and a real-time map of the corner reflector is formed. Based on the radar scanning angle of the corner reflector in the real-time map of the corner reflector and the radar scanning angle of the corner reflector in the initial map, the displacement deviation of the slope radar itself is determined. The slope radar is switched to dynamic monitoring mode. The slope radar continuously scans the monitored area to form a real-time slope status map. The real-time slope status map is then corrected and compensated based on the displacement deviation. The real-time slope condition map after correction and compensation is compared point-to-point with the initial slope condition map, and the displacement and / or deformation of the monitored area are determined based on the real-time distance difference of the same monitoring point. The accuracy correction mode and dynamic monitoring mode of the slope radar are automatically switched according to a set periodic pattern to provide real-time feedback correction for the monitoring accuracy of the slope radar.

3. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 2, characterized in that, The method for constructing the initial map between the corner reflector and the radar scanning angle is as follows: The slope radar sequentially scans the monitored area by emitting radar waves according to a set angle range. Based on the intensity of the received radar echo, the radar scanning angle corresponding to when the slope radar detects the corner reflector is determined; The detected corner reflectors are arranged in a matrix, and the distance between each corner reflector and the slope radar is marked to distinguish the identity of each corner reflector. An initial map between the corner reflector and the radar scanning angle is formed by combining the radar scanning angle corresponding to each corner reflector.

4. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 2, characterized in that, The method for constructing the initial slope state map between the monitoring points and the radar scanning angle of the monitored area is as follows: The slope radar is used to continuously scan the monitored area, and the monitoring point corresponding to each radar scanning angle in the monitored area is determined by combining the rotation angle of the slope radar. Based on the radar echoes received by the slope radar at each radar scanning angle, the displacement / deformation rate of each monitoring point calculated by the slope radar is calculated, forming an initial slope state map between each monitoring point and the radar scanning angle corresponding to each monitoring point.

5. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 3, characterized in that, Before switching the slope radar to the accuracy correction mode, in the real-time slope status map corresponding to the switch from the slope radar to the dynamic monitoring mode, each corner reflector is determined based on the received radar echo intensity, and the distance between each corner reflector and the slope radar is determined. After switching the slope radar to accuracy correction mode, the distance between each corner reflector and the slope radar is obtained from the real-time slope status map, and the initial map is updated.

6. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 3, characterized in that, The method for determining the displacement deviation inherent in the slope radar itself is as follows: The slope radar transmits radar waves sequentially to monitor the monitored area according to a set angle range. Based on the radar scanning angle corresponding to the radar echo received by the slope radar and the intensity corresponding to the radar echo received by the slope radar, it is determined whether the current monitoring point of the slope radar is the installation position of the corner reflector. When the current monitoring point of the slope radar is the installation location of the corner reflector, the identity of the corner reflector is determined according to the distance between the corner reflector and the slope radar, and the radar scanning angle corresponding to the same corner reflector in the initial map is determined; Based on the radar scanning angle corresponding to the initial map of the same corner reflector and the radar scanning angle corresponding to the real-time map of the corner reflector, the displacement deviation of the slope radar itself is determined.

7. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 5, characterized in that, The starting point of the monitored area is taken as the starting point of the slope radar, and the radar scanning angle of the slope radar is expressed as: ( , ),in, The horizontal lateral swing angle is represented by , and ... Indicates the longitudinal pitch angle. The longitudinal pitch swing step size of the slope radar is given. The radar scanning angle corresponding to corner reflector m in the real-time map of the corner reflector is represented as: ( m], [m]); In the initial map, a corner reflector n is identified that is identical to corner reflector m, and the radar scanning angle corresponding to corner reflector n in the initial map is expressed as: ( [n], [n]); Determine the horizontal and lateral displacement deviation inherent in the slope radar itself. = [m]- [n]; The slope radar itself has a longitudinal pitch displacement deviation. = [m]- [n].

8. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 7, characterized in that, The method for correcting and compensating the real-time slope condition map based on displacement deviation is as follows: If the horizontal displacement deviation If the value is greater than 0, it indicates that the slope radar has shifted to the left, and the horizontal displacement deviation is subtracted from the radar scan angle of all monitoring points in the real-time slope status map. To compensate for the horizontal and lateral displacement of the slope radar itself; Conversely, if the horizontal displacement deviation... If the value is less than 0, it indicates that the slope radar has shifted to the right, and the horizontal displacement deviation is added to the radar scanning angle of all monitoring points in the real-time slope status map. To compensate for the horizontal and lateral displacement of the slope radar itself; If the longitudinal pitch displacement deviation If the value is greater than 0, it indicates that the slope radar has shifted upwards, and the horizontal displacement deviation is subtracted from the radar scan angle of all monitoring points in the real-time slope status map. To compensate for the longitudinal pitch shift inherent in the slope radar itself; Conversely, if the longitudinal pitch displacement deviation... If the value is less than 0, it indicates that the slope radar has shifted downwards, and the longitudinal pitch displacement deviation is added to the radar scanning angle of all monitoring points in the real-time slope status map. This is to compensate for the longitudinal pitch shift inherent in the slope radar itself.

9. The slope radar accuracy correction and monitoring method based on corner reflectors according to claim 8, characterized in that, The method for determining the displacement and / or deformation of the monitored area based on the real-time distance difference of the same monitoring point is as follows: The real-time slope condition map represents the distribution location of each monitoring point in the monitored area. The real-time slope condition map is a monitoring point distribution matrix, and each monitoring point in the monitoring point distribution matrix is ​​associated with the displacement / deformation rate of that monitoring point. The real-time slope condition map after correction and compensation is compared with the initial slope condition map point by point to determine whether each monitoring point has moved or deformed. Early warning is issued based on the calculated movement or deformation of each monitoring point.

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