Three-dimensional visual safety management method and device for mining and stripping side slope of open pit coal mine

Abstract

The invention provides a three-dimensional visual safety management method and device for a mining and stripping slope of an open pit coal mine, and relates to the technical field of coal mine safety management. The method comprises the following steps: acquiring first multi-source fusion data of a target coal mine mining and stripping slope in a first data acquisition period, constructing an initial three-dimensional model of the target coal mine mining and stripping slope according to the first multi-source fusion data, and acquiring second multi-source fusion data of the target coal mine mining and stripping slope in a second data acquisition period, and determining a target three-dimensional model of the target coal mine mining and stripping side slope, displaying the target three-dimensional model of the target coal mine mining and stripping side slope, and outputting a safety management result of the target coal mine mining and stripping side slope according to the target three-dimensional model of the target coal mine mining and stripping side slope. The invention aims to solve the problems that an existing management method for the mining and stripping slope of the coal mine is relatively high in hysteresis quality and relatively weak in cooperative capability with a remote server.

Description

Technical Field

[0001] This application relates to the field of coal mine safety management technology, and in particular to a three-dimensional visualization safety management method and device for open-pit coal mine stripping slope. Background Technology

[0002] Stripping slopes are sloping structures formed at the edge of a coal mine from the surface to the goaf during mining operations. They are important geological features in open-pit coal mines. The stability of stripping slopes directly affects the safety and continuity of mine production. During coal mining, stripping slopes are prone to problems such as crack expansion, slippage, deformation, and even overall instability due to factors such as mining activities, blasting vibrations, and the infiltration of surface and groundwater. Once a stripping slope collapses or landslides, it will not only cause equipment damage and casualties but may also trigger a chain of geological disasters, posing a significant threat to the safety of coal mine production.

[0003] Currently, safety management schemes for coal mine stripping slopes mainly rely on manual inspections or single-point monitoring, resulting in a high degree of lag in safety management of coal mine stripping slopes and weak coordination with remote service terminals. Summary of the Invention

[0004] The embodiments disclosed in this application provide a three-dimensional visualization safety management method and device for open-pit coal mine stripping slopes, which can improve the problems of high lag and weak collaboration ability with remote servers in existing coal mine stripping slope management methods.

[0005] The embodiments of this application adopt the following technical solutions: Firstly, a three-dimensional visualization safety management method for open-pit coal mine stripping slopes is provided. The method includes: acquiring first multi-source fusion data of the target coal mine stripping slope in a first data acquisition cycle, constructing an initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data, acquiring second multi-source fusion data of the target coal mine stripping slope in a second data acquisition cycle, correcting the initial three-dimensional model based on the difference between the second and first multi-source fusion data, obtaining a target three-dimensional model of the target coal mine stripping slope, displaying the target three-dimensional model of the target coal mine stripping slope, and outputting the safety management results of the target coal mine stripping slope based on the target three-dimensional model of the target coal mine stripping slope.

[0006] The three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in this application realizes the accurate reconstruction and real-time updating of the morphological changes of stripping slopes through dynamic three-dimensional modeling based on multi-source monitoring data. By analyzing the differences in data from different data acquisition cycles, potential risk characteristics such as small displacements and crack propagation of stripping slopes can be identified. The risk distribution status of the stripping slope is then presented intuitively in the target three-dimensional model. Combined with the safety management results output by the model analysis, it can provide mine managers with decision-making basis including risk prediction, early warning prompts, and work scheduling. This realizes the visualization, intelligence, and initiative of coal mine stripping slope safety management, effectively improving the safety and management efficiency of mine operation.

[0007] In one possible implementation of the first aspect, acquiring first multi-source fusion data of the target coal mine stripping slope during a first data acquisition cycle includes: Spatial topographic data of the target coal mine stripping slope is acquired through a first data acquisition device, operational status data of the target coal mine stripping slope is acquired through a second data acquisition device, and displacement and deformation data of the target coal mine stripping slope is acquired through a third data acquisition device. Based on timestamp information, the displacement and deformation data, spatial topographic data, and operational status data are time-aligned to construct a unified time series. Based on the unified time series, the aligned multi-source data are correlated and synchronously fused to generate the first multi-source fused data.

[0008] The three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in this application breaks through the dilemma of data fragmentation and system isolation in traditional coal mine stripping slope monitoring by constructing a multi-source information fusion framework. By synchronously fusing multi-dimensional data such as spatial terrain, operation status, and displacement deformation under a unified spatiotemporal reference, it achieves global perception and dynamic visualization of the overall state of the stripping slope.

[0009] In one possible implementation of the first aspect, an initial three-dimensional model of the target coal mine stripping slope is constructed based on the first multi-source fusion data, including: performing point cloud stitching and noise filtering on the spatial terrain data to obtain a three-dimensional terrain point cloud map covering the target coal mine stripping slope; determining the location elements of the equipment and construction area based on the operation status data and embedding them as dynamic objects into the three-dimensional terrain point cloud map; performing spatial registration on the displacement and deformation data; mapping the displacement vector field of the detection points to the three-dimensional terrain point cloud map; and generating the initial three-dimensional model.

[0010] In one possible implementation of the first aspect, the initial three-dimensional model is corrected based on the difference between the second multi-source fusion data and the first multi-source fusion data to obtain a target three-dimensional model, including: determining the mining and stripping change area based on the difference between the second multi-source fusion data and the first multi-source fusion data; and dynamically correcting the mining and stripping change area of ​​the initial three-dimensional model based on the second multi-source fusion data to obtain the target three-dimensional model.

[0011] The three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in this application, by comparing and analyzing the differences in multi-source fusion data at different times, only updates the model locally for the stripping change area and the deformation part of the stripping slope, avoiding the full reconstruction of the entire three-dimensional model, and greatly reducing the amount of data processing and computational overhead.

[0012] In one possible implementation of the first aspect, the method further includes: determining the deformation amplitude of the stripping change area, and outputting a stability warning result for the stripping slope when the deformation amplitude of the stripping change area is greater than a deformation threshold.

[0013] In one possible implementation of the first aspect, the safety management results include work scheduling instructions and risk prediction results. The safety management results of the target coal mine stripping slope are output based on the target three-dimensional model of the target coal mine stripping slope, including: outputting the risk prediction results of the target coal mine stripping slope based on the terrain deformation characteristics and stress distribution status reflected in the target three-dimensional model; and outputting the work scheduling instructions of the stripping equipment based on the location relationship of the stripping area and the equipment operating space range reflected in the target three-dimensional model.

[0014] In one possible implementation of the first aspect, the method further includes: acquiring real-time scene images collected on-site, and superimposing the target 3D model onto the real-time scene images in an augmented reality manner according to the spatial pose correspondence between the real-time scene images and the target 3D model.

[0015] Secondly, a three-dimensional visualization safety management device for open-pit coal mine stripping slopes is provided. The device includes: a model building module, used to acquire first multi-source fusion data of the target coal mine stripping slope in a first data acquisition cycle, and construct an initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data; a model correction module, used to acquire second multi-source fusion data of the target coal mine stripping slope in a second data acquisition cycle, and correct the initial three-dimensional model based on the difference between the second multi-source fusion data and the first multi-source fusion data to obtain the target three-dimensional model; and a management module, used to display the target three-dimensional model of the target coal mine stripping slope, and output the safety management results of the target coal mine stripping slope based on the target three-dimensional model of the target coal mine stripping slope.

[0016] Thirdly, an electronic device is provided, the method comprising: a memory and at least one processor. The memory is communicatively connected to the processor. The memory is used to store computer program code, the computer program code including computer instructions. When the processor executes the computer instructions, it causes the electronic device to perform the method of the first aspect and any possible implementation thereof.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions. When these computer instructions are executed by a processor, they are used to implement the method as described in the first aspect and any possible implementation thereof.

[0018] Fifthly, embodiments of this application provide a computer program product that, when running on a computer / executed by the computer's processor, implements the method described in the first aspect and any possible design thereof. The computer may be the three-dimensional visualization safety management device for open-pit coal mine stripping slopes described in the second aspect and any possible implementation thereof.

[0019] Understandably, the technical effects of the second to fifth aspects refer to the technical effects of the first aspect and any of its embodiments, and will not be repeated here. Attached Figure Description

[0020] Figure 1 A flowchart illustrating the steps of another three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in this application embodiment; Figure 2 A block diagram of a three-dimensional visualization safety management device for open-pit coal mine stripping slopes provided in this application embodiment; Figure 3 A schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] The technical solutions in some embodiments of this application will be clearly and completely described below with reference to the figures. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application are within the scope of protection of this application.

[0022] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "exemplary," or "some examples," etc., are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, a particular feature, structure, material, or characteristic may be included in any suitable manner in any one or more embodiments or examples.

[0023] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0024] In describing some embodiments, the term "coupled" and its derivative expressions may be used. For example, the term "coupled" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact; in this case, "coupled" can also be described as "connected." Furthermore, the term "coupled" may also refer to two or more components that do not have direct contact with each other but still cooperate or interact with each other. The embodiments disclosed herein are not necessarily limited to the content of this document.

[0025] "At least one of A, B, and C" has the same meaning as "at least one of A, B, or C", both including the following combinations of A, B, and C: only A, only B, only C, combinations of A and B, combinations of A and C, combinations of B and C, and combinations of A, B, and C.

[0026] "A and / or B" includes three combinations: A only, B only, and a combination of A and B. The use of "applies to" or "configured to" in this document implies open and inclusive language, which does not preclude applicability to or configuration to perform additional tasks or steps on devices. Additionally, the use of "based on" implies openness and inclusivity, as processes, steps, calculations, or other actions "based on" one or more conditions or values ​​may in practice be based on additional conditions or values ​​beyond those conditions.

[0027] The use of “configured as” in this article implies an open and inclusive language that does not exclude the applicability to or configuration of devices to perform additional tasks or steps.

[0028] Coal mine stripping slopes refer to the sloping structures formed at the edge of a mine from the surface to the goaf during coal mining. They are important geological features in open-pit coal mine engineering. Stripping slopes typically consist of a surface overburden, weathered layer, and original rock mass. Their mechanical properties are influenced by factors such as lithology, joint development, soil moisture content, and geostress. Under the influence of mining operations, blasting vibrations, rainfall and groundwater seepage, and surface loads (such as heavy vehicle traffic and material stockpiling), stripping slopes may undergo stress redistribution, strain concentration, and crack initiation and propagation, leading to failure modes such as bench collapse, stripping slope slippage, or overall instability. Stripping slope instability not only endangers the integrity of surface and underground facilities and production equipment but also directly threatens personnel safety. It can also cause blockage of the subsidence area, obstruction of drainage systems, and secondary geological disasters, resulting in mine production shutdowns and significant economic losses.

[0029] The triggering and evolution of instability in mining and stripping slopes typically exhibit the following characteristics: First, multi-factor coupling, often triggered by the combined effects of mining and stripping activities and hydrological conditions; second, spatiotemporal non-uniformity, with different localities potentially displaying drastically different displacement rates and rupture modes; third, high evolution sensitivity, where even minor stress / moisture disturbances can induce accelerated deformation within a short period; and fourth, significant observation challenges, as single-point data is insufficient to reflect the overall state due to limitations in site accessibility, representativeness of observation points, and transmission stability. Based on these physical and engineering characteristics, safety management of coal mine mining and stripping slopes requires addressing issues such as monitoring coverage, data timeliness, early warning accuracy, and decision visualization simultaneously.

[0030] Among related technologies, current methods for three-dimensional visualization safety management of open-pit coal mine stripping slopes mainly include the following categories: Experienced personnel regularly patrol the mining slope, inspect cracks, and observe drainage and surface changes, recording data using on-site measuring tools (such as steel rulers and crack gauges). This method is low-cost and easy to implement, but it relies on subjective human judgment, has a long monitoring cycle, and struggles to capture rapid evolution processes at night or suddenly.

[0031] Sensors such as Global Navigation Satellite System (GNSS) monitoring points, inclinometers, crack gauges, and groundwater level gauges are deployed at key points on the mining and stripping slope to collect parameters such as displacement, dip angle, crack opening, and water level in real time or periodically. Some devices can achieve remote data transmission and alarm functions. This method can provide high-precision information on point changes, but it is limited by the density and representativeness of the points, making it difficult to reflect large-scale topographic changes and spatial deformation patterns.

[0032] Ground-based radar, terrestrial 3D laser scanning, or ground-based radar can be used to continuously or periodically scan mining and stripping slopes to obtain planar displacement fields or high-density point cloud data, enabling timely detection of large-scale displacement trends and potential landslides. However, these methods are costly and require sophisticated data processing, and they also have blind spots under complex obstructions (such as large equipment or ore piles) or extreme weather conditions.

[0033] Using drones equipped with multispectral / oblique cameras for regular aerial photography generates digital elevation models (DEMs) and oblique photogrammetry 3D models for macroscopic terrain analysis and volumetric statistics. This method is suitable for large-scale, rapid resurveying, but it is typically offline and has a long update cycle (often several days to weeks), making it difficult to meet real-time requirements.

[0034] However, existing methods for safety management of coal mine stripping slopes still have several shortcomings. First, various monitoring and production data come from diverse sources, typically collected separately by GNSS monitoring systems, ground-penetrating radar, video surveillance, and equipment scheduling systems. This results in fragmented data storage, heterogeneous formats, and a lack of unified data management and fusion mechanisms, making it difficult to use information collaboratively. Second, existing systems often rely on a single data source for stripping slope stability analysis, failing to comprehensively consider the coupling relationship between terrain changes, equipment operating status, and stripping slope deformation trends, thus making it difficult to fully reflect the safety status of stripping slopes. Furthermore, some systems use static models or periodically reconstruct overall 3D models for risk assessment, resulting in low model update frequency, high computational load, and an inability to reflect real-time terrain changes caused by stripping activities. Finally, existing safety early warning systems typically rely on manual comparison or threshold triggering, leading to delayed responses and insufficient intelligence, making it difficult to provide timely guidance for on-site scheduling and risk prevention.

[0035] To address the aforementioned issues, this application provides a three-dimensional visualization safety management method for open-pit coal mine stripping slopes, see reference. Figure 1 It may include S101 to S103.

[0036] S101: Acquire the first multi-source fusion data of the target coal mine stripping slope in the first data acquisition cycle, and construct the initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data.

[0037] The target coal mine stripping slope refers to the stripping slope body in the mining area that requires safety monitoring and management. It includes the exposed rock or soil surface during mining, and parts that may have displacement, fissures, or other structural risks. First, in the data acquisition phase, multiple data acquisition devices deployed in the target coal mine stripping slope area collect spatial topographic data, operational status data, and displacement and deformation data. Spatial topographic data reflects the overall geomorphological features of the stripping slope, operational status data characterizes the operating location and range of the stripping equipment, and displacement and deformation data describes the stability trends of the stripping slope body. Subsequently, based on the timestamp information of various data sources, time alignment and format standardization are performed on the data from different sources to construct a unified time series. The aligned multi-source data are then correlated and synchronously fused to obtain the first multi-source fused data. Finally, based on the topographic feature information in the first multi-source fused data, a three-dimensional model reflecting the initial geomorphology and operational distribution of the target coal mine stripping slope is generated as the basis model for subsequent safety management and dynamic correction.

[0038] Specifically, the process of acquiring the first multi-source fusion data of the target coal mine stripping slope may include S1011 to S1015.

[0039] S1011: Acquire spatial topographic data of the target coal mine stripping slope through the first data acquisition device; S1012: Obtain operational status data of the target coal mine stripping slope through the second data acquisition device; S1013: Obtain displacement and deformation data of the target coal mine stripping slope through a third data acquisition device; S1014: Based on timestamp information, time-align displacement and deformation data, spatial terrain data, and operational status data to construct a unified time series; S1015: Based on a unified time series, the aligned multi-source data is correlated and synchronously fused to generate the first multi-source fused data.

[0040] The first data acquisition device can be a combination system of a 3D laser scanner and a low-altitude drone. The 3D laser scanner can be positioned near the observation point of the stripping slope to acquire high-density point cloud data of a local area of ​​the stripping slope at a sampling cycle of approximately 5 minutes. The low-altitude drone cruises and photographs the stripping slope area according to a preset flight path, transmitting image data and elevation data in real time to supplement global terrain information and form a complete geomorphological feature. The second data acquisition device can be a sensor module deployed on the stripping equipment to collect data such as equipment operating status, location coordinates, and work trajectory in real time, reflecting the construction progress and work scope of the stripping slope area. The third data acquisition device can be a GNSS monitoring station deployed at key locations on the stripping slope, with millimeter-level positioning accuracy, continuously outputting displacement and deformation data at a sampling cycle of approximately 30 seconds, to reflect the stability changes of the stripping slope.

[0041] After completing data acquisition of the target coal mine's stripping slope, the first, second, and third data acquisition devices transmit the collected data to a computing gateway deployed at the edge. The computing gateway first performs efficient compression processing on the received multi-source heterogeneous data, using advanced compression algorithms to reduce the data volume to one-tenth of its original size, significantly reducing transmission bandwidth requirements. Subsequently, the gateway stably transmits the compressed data to the remote server through a hybrid transmission channel constructed by an integrated 4G / 5G industrial router and a Zigbee wireless module. This method effectively solves the problems of difficult traditional wired cabling and susceptibility to signal interference, while simultaneously enabling data linkage with a real-time 3D terrain model, allowing remote terminals to update the 3D model based on the latest multi-source data.

[0042] During data transmission, the gateway incorporates a CRC cyclic redundancy check mechanism to verify the integrity of each data packet, ensuring reliable data transmission. Simultaneously, based on a unified time base, the gateway performs precise timestamp synchronization processing on spatial terrain data, operational status data, and displacement and deformation data from different acquisition devices, constructing a unified time series. Based on this time-series data with unified time signature, the gateway uses a built-in correlation analysis algorithm to deeply fuse and correlate multi-source data, generating the first multi-source fused data set. This provides a complete and accurate data foundation for subsequent stability analysis and early warning of mining and stripping slopes.

[0043] After receiving the multi-source fused data from the computing gateway, the remote server can initiate an automated modeling process. The server first parses and decompresses the received multi-source fused data, extracting spatial terrain point clouds, surface texture images, and key feature information. Then, based on this precise spatial data, it calls a 3D modeling engine to construct a high-precision initial 3D model of the target coal mine stripping slope.

[0044] The initial 3D model was further fused with a pre-acquired base 3D scene using oblique photogrammetry. Specifically, the initial 3D model was used as the core analysis object and precisely embedded into a base 3D scene built based on the oblique photogrammetry model, which included complete surrounding terrain and environmental information. This fusion process ensured a seamless connection between the target stripping slope and its surrounding environment in terms of spatial scale, geographic coordinates, and texture features, thereby generating a digital twin scene that combines macroscopic scenes with microscopic structures. This provides a realistic and reliable 3D spatial foundation for subsequent stripping slope displacement analysis, stability simulation, and safety early warning.

[0045] Specifically, the process of constructing an initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data may include steps S1016 to S1018: S1016: Perform point cloud stitching and noise filtering on spatial terrain data to obtain a complete three-dimensional terrain point cloud covering the target coal mine stripping slope; S1017: Determine the location elements of equipment and construction area based on operation status data, and embed them as dynamic objects into the three-dimensional terrain point cloud; S1018 performs spatial registration of displacement and deformation data, mapping the displacement vector field of the detection points to the corresponding terrain point cloud coordinates to generate an initial 3D model.

[0046] First, point cloud stitching and Kalman filtering-based noise removal are performed on the spatial terrain data to quickly generate a complete 3D terrain point cloud covering the entire stripping slope, keeping data processing time within seconds. Then, based on operational status data, key elements such as equipment and construction areas are identified and precisely embedded into the 3D terrain point cloud as dynamic objects using parametric modeling technology, constructing a scene representation that integrates static and dynamic elements. Finally, spatiotemporal registration processing is performed on displacement monitoring data to accurately map the displacement vector field of discrete points to the corresponding terrain point cloud coordinates, establishing the correlation between displacement changes and spatial location. Ultimately, an initial 3D model integrating static terrain, dynamic elements, and deformation fields is constructed, providing a precise visualization foundation for the stability analysis of the stripping slope.

[0047] S102: In the second data acquisition cycle, acquire the second multi-source fusion data of the target coal mine stripping slope, and correct the initial three-dimensional model based on the difference between the second multi-source fusion data and the first multi-source fusion data to obtain the target three-dimensional model.

[0048] After obtaining the initial 3D model of the target coal mine stripping slope, the system employs an intelligent local update strategy in subsequent monitoring cycles to significantly reduce the computational burden and data processing time for model updates. Specifically, upon entering the second data acquisition cycle and acquiring new second multi-source fusion data, the system automatically compares and analyzes the new data with the historical multi-source fusion data upon which the initial model is based, using a high-precision change detection algorithm. This comparison can accurately locate areas of significant change, primarily including new working faces formed by open-pit mining and stripping operations, expanded spoil heap areas, and dangerous sections of the stripping slope surface exhibiting displacement and deformation. Based on this analysis, a local model reconstruction process is initiated only for these identified areas of change, updating the corresponding 3D model through incremental modeling methods to obtain the target 3D model.

[0049] Moreover, the specific implementation process can include S1021 to S1022.

[0050] S1021: Determine the mining and stripping change area based on the difference between the second multi-source fusion data and the first multi-source fusion data; S1022: Based on the second multi-source fusion data, the stripping and deformation areas of the initial 3D model are dynamically corrected to obtain the target 3D model.

[0051] In practical implementation, a unified coordinate benchmark can be established by performing precise registration of cloud data from different data acquisition periods using the ICP algorithm. Subsequently, a digital elevation model difference map is constructed through point cloud density change analysis and surface elevation difference calculation to identify areas where elevation changes exceed a threshold. Simultaneously, feature comparison of multi-period image data and texture feature analysis are used to assist in verifying the mining and stripping operation area. Finally, multi-source evidence fusion decision-making determines the spatial boundaries of the area where mining and stripping changes have occurred.

[0052] Based on the identified change regions, this stage employs a local incremental update strategy to accurately correct the initial 3D model. The process includes: first, locating the triangular mesh structure corresponding to the change region in the initial 3D model; then, using a local triangular mesh deletion and reconstruction algorithm, reconstructing the geometric model of the region based on the latest point cloud data from the second multi-source fusion data; subsequently, using a surface fitting algorithm to smoothly transition the connecting regions, ensuring seamless integration between the old and new models; finally, extracting texture information from the latest image data and optimizing texture mapping for the updated region to maintain visual consistency. The entire process, through a dynamic correction mechanism, updates the model only in the change regions, ensuring model timeliness while concentrating computational resources on the local areas requiring updates, thus significantly improving computational efficiency.

[0053] In one feasible implementation, the method further includes: determining the deformation amplitude of the stripping change area, and outputting the stability warning result of the stripping slope when the deformation amplitude of the stripping change area is greater than the deformation threshold.

[0054] By accurately calculating the average deformation amplitude of the mining-stripping change area and comparing it in real time with a dynamic deformation threshold set based on geotechnical mechanical properties and engineering safety standards, the system immediately triggers a tiered warning when the monitored data continuously exceeds the warning threshold. This quantitative criterion effectively overcomes the inherent defects of traditional manual inspections, such as strong subjectivity and delayed detection, enabling managers to obtain accurate warnings in the early accelerated deformation stage of mining-stripping slope instability. As an example, when it is determined that the deformation amplitude of the mining-stripping change area is greater than the deformation threshold, a marker and prompt can be displayed on the target 3D model on the display device to alert the user that there may be a safety risk in the standard area.

[0055] S103: Display the target 3D model of the target coal mine stripping slope, and output the safety management results of the target coal mine stripping slope based on the target 3D model.

[0056] After obtaining a dynamically updatable 3D target model, it can be loaded into a multi-terminal visualization system. Specifically, the control terminal can monitor the overall terrain morphology, mining progress, and deformation trends of the mining slopes across the entire mining area via a large screen interface; mobile terminals can access model data in real time on-site and perform localized visualization viewing by combining location information and camera footage; and computer clients can perform refined operations on the model, such as slope analysis, rock layer distribution analysis, and calculation of mining face evolution trends.

[0057] Through the aforementioned multi-terminal display and collaboration functions, not only is a three-dimensional presentation of the safety status of the stripping slope realized, but risk prediction results, alarm prompts and dispatch instructions can also be graphically superimposed on the three-dimensional model, enabling managers to intuitively grasp the dynamics of the entire mine's stripping and potential risk areas, thereby improving the decision-making efficiency and emergency response capabilities of stripping slope safety management.

[0058] Furthermore, risk assessment and work scheduling analysis can be performed based on the model. Specifically, based on the terrain deformation characteristics and stress distribution reflected in the target 3D model, the risk prediction results of the target coal mine stripping slope can be output, and based on the location relationship of the stripping area and the equipment operating space range reflected in the target 3D model, the work scheduling instructions for the stripping equipment can be output.

[0059] Risk prediction results are used to reflect the stability status and potential safety hazards of the target coal mine's stripping slope in the current or future period. These results may include the changing trend of the overall stability coefficient of the stripping slope, predictions of local sliding surface locations, deduction of fracture propagation paths, estimation of soil or rock displacement, assessment of the impact of rainwater infiltration or groundwater changes on the stripping slope structure, and information on the risk levels of potential collapses, slippages, or subsidence. Through joint analysis of multi-source sensor data and historical monitoring data, a quantitative assessment of the probability of risk events can be achieved, generating early warnings and providing a basis for subsequent safety decisions. For example, early warning reports can be predicted for the future based on historical topographic data and accident case models.

[0060] The work scheduling instructions for mining and stripping equipment are used to dynamically adjust mining operation plans based on risk prediction results to ensure construction safety and production efficiency. As an example, the work scheduling instructions for mining and stripping equipment can be further refined into two main categories: mining and stripping path planning and equipment scheduling schemes. Mining and stripping path planning refers to dynamically determining the operating route and sequence of mining and stripping equipment based on the three-dimensional terrain model of the target coal mine's mining and stripping slope, soil and rock stratification information, and risk prediction results. For example, when a risk of slippage or collapse is identified in a certain area, the original operating route can be adjusted through a path reconstruction algorithm, allowing equipment to avoid high-risk areas and prioritize mining operations in stable areas; simultaneously, based on the ore layer structure characteristics and terrain slope, the angle of the mining and stripping slope and the arrangement of steps are optimized to ensure balanced stress on the mining and stripping slope and reduce disturbance. The equipment scheduling scheme refers to the unified coordination and dynamic allocation of multiple mining machines, bulldozers, loaders, and transport vehicles based on risk level, equipment type, operating efficiency, and on-site resource distribution. Specifically, this includes: determining the operating time and area allocation for each piece of equipment, setting the coordination sequence and operating intervals between equipment, monitoring equipment operating status in real time, and automatically adjusting the scheduling plan based on risk predictions or weather changes. For example, when a short-term heavy rainfall or an increased risk of localized landslides is predicted, the system can automatically generate instructions to suspend mining or stripping or transfer equipment to a safe area to prevent accidents. In this way, the mining path planning and equipment scheduling scheme can achieve global optimization and risk linkage control of the operation process, thereby improving the overall efficiency and intelligence level of coal mine mining operations while ensuring the safety of the mining slope.

[0061] In one feasible implementation, the earthwork volume statistics can also be output based on the target three-dimensional model.

[0062] By calculating the volume of topographic elevation data and rock strata distribution information in the target 3D model, the changes in earthwork volume in the stripping slope area can be automatically obtained. This statistical process does not require manual on-site measurement and can reflect the cut-fill balance of the soil in real time based on the dynamic updates of the model data. As an example, after the stripping operation progresses, the system can automatically compare the differences in the topographic model before and after the operation, calculate the cut and fill volumes of each zone, and generate corresponding statistical reports and visualization charts for managers to analyze intuitively. This not only significantly improves the accuracy and timeliness of earthwork volume statistics but also reduces errors and safety hazards caused by manual measurement, realizing digital and intelligent management of the stripping slope mining process.

[0063] In one feasible implementation, the method further includes: acquiring real-time scene images collected on-site, and superimposing the target 3D model onto the real-time scene images in an augmented reality manner based on the spatial pose correspondence between the real-time scene images and the target 3D model.

[0064] To enhance the mobile interactive experience for on-site workers, this implementation integrates augmented reality (AR) overlay functionality onto the mobile terminal. By utilizing the mobile terminal's camera module to acquire real-time images of the mining area, and based on the terminal's attitude sensors (such as gyroscopes and accelerometers) and positioning information (such as GNSS coordinates), the spatial pose of the real-time scene image is determined. The system can then spatially match and correct the pose of the target 3D model with the on-site image, allowing the 3D terrain model, underground coal seam distribution, and pipeline routes to be overlaid on the real-world image in an augmented reality manner, thus achieving a fusion of virtual and real-world displays.

[0065] Using the above methods, on-site personnel can intuitively view underground structure information, mining and stripping boundaries, and the distribution of hazardous areas on their mobile phones or tablets without returning to the monitoring center. This helps to identify potential risks in advance and avoid misoperations. Furthermore, the mobile terminals also support offline data caching mode, allowing them to access locally cached key terrain models and risk area data even in situations with weak network signals or temporary network outages, enabling continuous visualization of safety management information.

[0066] In one feasible implementation, to achieve long-term tracking and trend analysis of the evolution process of mining and stripping slopes, the multi-source fusion data acquired in each collection cycle can be stored in a historical database. This database can record information such as spatial topography, operational status, and displacement deformation at each stage in a time series, providing a foundation for subsequent data backtracking, model reconstruction, and stability change comparison. Simultaneously, through periodic analysis of the historical database, the cumulative characteristics of mining and stripping slope deformation and the evolution patterns of potential risks can be identified, thereby providing data support for predictive early warning and scientific decision-making.

[0067] In one feasible implementation, to achieve unified supervision and collaborative decision-making across mining areas, a cloud-based data sharing and scheduling platform can be constructed. This platform can integrate 3D terrain models, mining progress information, and safety monitoring data from multiple open-pit coal mines into a unified system. Through the cloud architecture, the management center can monitor the operational dynamics and slope stability of each mine in real time, and quickly issue scheduling instructions when risks are detected, forming a coordinated response mechanism. Furthermore, it can be extended to be compatible with underground mine data interfaces, spatially integrating surface mining slope models with underground roadway models to construct an integrated 3D visualization scene connecting the surface and underground, providing spatial decision support for comprehensive production management and emergency command.

[0068] The three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in this application constructs a dynamic three-dimensional model based on multi-source monitoring data, enabling high-precision reconstruction and real-time updates of slope morphological changes. By performing differential analysis on monitoring data from different acquisition periods, potential risk characteristics such as minute displacements and crack propagation of the stripping slope can be identified, and the risk distribution of the stripping slope can be intuitively displayed in the three-dimensional model. The safety management information generated by combining the model analysis results can provide mine management personnel with decision support including risk prediction, early warning, and work scheduling, thereby achieving visualization, intelligence, and proactivity in coal mine stripping slope safety management, effectively improving mine operation safety and management efficiency.

[0069] Figure 2 This is a block diagram of a three-dimensional visualization safety management device for open-pit coal mine stripping slopes, provided as an embodiment of this application. Figure 2 As shown, the 200-unit open-pit coal mine stripping slope three-dimensional visualization safety management device includes: The model building module 201 is used to acquire the first multi-source fusion data of the target coal mine stripping slope in the first data acquisition cycle, and to build an initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data. The model correction module 202 is used to acquire the second multi-source fusion data of the target coal mine stripping slope in the second data acquisition cycle, and correct the initial three-dimensional model according to the difference between the second multi-source fusion data and the first multi-source fusion data to obtain the target three-dimensional model. The management module 203 is used to display the target three-dimensional model of the target coal mine stripping slope and output the safety management results of the target coal mine stripping slope based on the target three-dimensional model.

[0070] Based on any of the above embodiments, the model building module 201 is specifically used for: Spatial topographic data of the target coal mine stripping slope are acquired using the first data acquisition device; The operational status data of the target coal mine's stripping slope is acquired through a second data acquisition device; Displacement and deformation data of the target coal mine stripping slope are obtained through a third data acquisition device; Based on timestamp information, displacement and deformation data, spatial terrain data, and operational status data are time-aligned to construct a unified time series. Based on a unified time series, the aligned multi-source data are correlated and synchronously fused to generate the first multi-source fused data.

[0071] Based on any of the above embodiments, the model building module 201 is further specifically used for: The spatial terrain data is processed by point cloud stitching and noise filtering to obtain a three-dimensional terrain point cloud map covering the target coal mine stripping slope; Based on the operational status data, the location elements of the equipment and construction area are determined and embedded as dynamic objects into the 3D terrain point cloud map. Spatial registration is performed on displacement and deformation data, and the displacement vector field of the detection points is mapped onto the three-dimensional terrain point cloud map to generate an initial three-dimensional model.

[0072] Based on any of the above embodiments, the model correction module 202 is specifically used for: Based on the differences between the second multi-source fusion data and the first multi-source fusion data, the mining and stripping change area is determined; Based on the second multi-source fusion data, the stripping and deformation areas of the initial 3D model are dynamically corrected to obtain the target 3D model.

[0073] Based on any of the above embodiments, the three-dimensional visualization safety management device 200 for open-pit coal mine stripping slopes further includes: The deformation early warning module is used to determine the deformation amplitude in the mining and stripping change area. When the deformation amplitude in the mining and stripping change area is greater than the deformation threshold, it outputs the stability early warning result of the mining and stripping slope.

[0074] Based on any of the above embodiments, the management module 203 is specifically used for: Based on the terrain deformation characteristics and stress distribution reflected in the target 3D model, the risk prediction results of the target coal mine stripping slope are output. Based on the location relationship of the mining and stripping areas and the operating space of the equipment reflected in the target 3D model, output the work scheduling instructions for the mining and stripping equipment.

[0075] Based on any of the above embodiments, the three-dimensional visualization safety management device 200 for open-pit coal mine stripping slopes further includes: The augmented reality module is used to acquire real-time scene images collected on-site. Based on the spatial pose correspondence between the real-time scene images and the target 3D model, the target 3D model is superimposed onto the real-time scene images in an augmented reality manner.

[0076] The three-dimensional visualization safety management device for open-pit coal mine stripping slopes provided in this application embodiment can execute the methods shown in the above-described method embodiments. Its implementation principle and beneficial effects can be found in the relevant descriptions in the method embodiments, and will not be repeated here. Furthermore, each module in the above-described three-dimensional visualization safety management device for open-pit coal mine stripping slopes can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0077] In other embodiments, an electronic device is provided, which may be a terminal device as described in the above method embodiments, for executing the method steps performed by the terminal in the above method flow. The internal structure diagram of this electronic device may be as follows: Figure 3 As shown, it includes a processor, memory, input / output interface, communication interface, display unit, and input device.

[0078] The processor, memory, and input / output interface are connected via a system bus, while the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a three-dimensional visualization safety management method for open-pit coal mine stripping slopes. The display unit of the electronic device is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the electronic device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the electronic device, or external keyboards, touchpads, or mice, etc.

[0079] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0080] In some embodiments, an electronic device includes a memory, a processor, and a communication interface. The communication interface is used to interact with other devices to send and receive data. For example, in this embodiment, the communication interface may specifically be used to store computer program code, which includes computer instructions. These computer instructions run in the electronic device to implement the method shown in the above-described method embodiments. For example, the memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk, or optical disk, etc.

[0081] The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a network processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The processor can also be other general-purpose processors. A general-purpose processor can be a microprocessor or any conventional processor.

[0082] Memory, communication interfaces, and processor communication connections. For example, memory and communication interfaces can connect to the processor via the system bus and communicate with each other. The system bus can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, an Industry Standard Architecture (ISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0083] Alternatively, the memory can be either standalone or integrated with the processor. When the memory is set up independently, it is connected to the processor via the system bus.

[0084] This application also provides a chip for executing instructions, which is used to execute the technical solution of the three-dimensional visualization safety management method for open-pit coal mine stripping slopes described in the above embodiments.

[0085] This application also provides a computer-readable storage medium storing computer instructions. When these computer instructions are executed by a processor, they are used to implement the technical solution of the three-dimensional visualization safety management method for open-pit coal mine stripping slopes described in the above embodiments. Specifically, when the computer instructions are executed by a processor, the computer device can execute the technical solution of the three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in the above embodiments.

[0086] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, it can implement the technical solution of the three-dimensional visualization safety management method for open-pit coal mine stripping slopes provided in the above embodiments.

[0087] The aforementioned computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), etc.

[0088] Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can take many forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). Computer-readable storage media may be any available medium accessible to general-purpose or special-purpose computers.

[0089] An exemplary computer-readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the computer-readable storage medium can exist as discrete components in an electronic control unit or main control device; this application does not limit this.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0091] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules in the formula can be selected to implement the solution of this embodiment according to actual needs.

[0092] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0093] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0094] It should be understood that the steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0095] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0096] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application's patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features in the formula. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A three-dimensional visualization safety management method for open-pit coal mine stripping slopes, characterized in that, The method includes: In the first data acquisition cycle, the first multi-source fusion data of the target coal mine stripping slope is acquired, and an initial three-dimensional model of the target coal mine stripping slope is constructed based on the first multi-source fusion data. In the second data acquisition cycle, the second multi-source fusion data of the target coal mine stripping slope is acquired, and the initial three-dimensional model is corrected based on the difference between the second multi-source fusion data and the first multi-source fusion data to obtain the target three-dimensional model. Display the target 3D model of the target coal mine stripping slope, and output the safety management results of the target coal mine stripping slope based on the target 3D model.

2. The three-dimensional visualization safety management method for open-pit coal mine stripping slopes according to claim 1, characterized in that, The acquisition of the first multi-source fusion data of the target coal mine stripping slope during the first data acquisition period includes: Spatial topographic data of the target coal mine stripping slope are acquired using a first data acquisition device; The operational status data of the target coal mine stripping slope is acquired through a second data acquisition device; Displacement and deformation data of the target coal mine stripping slope are acquired using a third data acquisition device; Based on the timestamp information, the displacement and deformation data, the spatial terrain data, and the operation status data are time-aligned to construct a unified time series; Based on the unified time series, the aligned multi-source data are correlated and synchronously fused to generate the first multi-source fused data.

3. The three-dimensional visualization safety management method for open-pit coal mine stripping slopes according to claim 2, characterized in that, The construction of the initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data includes: The spatial terrain data is processed by point cloud stitching and noise filtering to obtain a three-dimensional terrain point cloud map covering the stripping slope of the target coal mine. Based on the operational status data, the location elements of the equipment and construction area are determined and embedded as dynamic objects into the three-dimensional terrain point cloud map. Spatial registration is performed on the displacement and deformation data, and the displacement vector field of the detection points is mapped onto the three-dimensional terrain point cloud map to generate the initial three-dimensional model.

4. The three-dimensional visualization safety management method for open-pit coal mine stripping slopes according to claim 1, characterized in that, The step of correcting the initial 3D model based on the difference between the second multi-source fusion data and the first multi-source fusion data to obtain the target 3D model includes: Based on the differences between the second multi-source fusion data and the first multi-source fusion data, the mining and stripping change area is determined; Based on the second multi-source fusion data, the stripping and mining variation area of ​​the initial three-dimensional model is dynamically corrected to obtain the target three-dimensional model.

5. The three-dimensional visualization safety management method for open-pit coal mine stripping slopes according to claim 4, characterized in that, The method further includes: Determine the deformation amplitude of the stripping change area. If the deformation amplitude of the stripping change area is greater than the deformation threshold, output the stability warning result of the stripping slope.

6. The three-dimensional visualization safety management method for open-pit coal mine stripping slopes according to claim 1, characterized in that, The safety management results include work scheduling instructions and risk prediction results. The step of outputting the safety management results of the target coal mine stripping slope based on the target three-dimensional model of the target coal mine stripping slope includes: Based on the terrain deformation characteristics and stress distribution reflected in the target three-dimensional model, the risk prediction results of the target coal mine stripping slope are output. Based on the location relationship of the mining and stripping areas and the operating space of the equipment reflected in the target three-dimensional model, output the work scheduling instructions for the mining and stripping equipment.

7. The three-dimensional visualization safety management method for open-pit coal mine stripping slopes according to any one of claims 1-6, characterized in that, The method further includes: Acquire real-time scene images collected on-site; Based on the spatial pose correspondence between the real-time scene image and the target 3D model, the target 3D model is superimposed onto the real-time scene image in an augmented reality manner.

8. A three-dimensional visualization safety management device for open-pit coal mine stripping slopes, characterized in that, include: The model building module is used to acquire the first multi-source fusion data of the target coal mine stripping slope in the first data acquisition cycle, and to construct the initial three-dimensional model of the target coal mine stripping slope based on the first multi-source fusion data. The model correction module is used to acquire the second multi-source fusion data of the target coal mine stripping slope in the second data acquisition cycle, and correct the initial three-dimensional model according to the difference between the second multi-source fusion data and the first multi-source fusion data to obtain the target three-dimensional model. The management module is used to display the target 3D model of the target coal mine stripping slope and output the safety management results of the target coal mine stripping slope based on the target 3D model.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

10. A computer program product, characterized in that, When the computer program product is run on a computer / executed by the computer's processor, it implements the method as described in any one of claims 1-7.

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