CN117367331B - Radar monitoring method and device for mining area earth surface deformation and electronic equipment - Google Patents

Radar monitoring method and device for mining area earth surface deformation and electronic equipment Download PDF

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Publication number
CN117367331B
CN117367331B CN202311640191.3A CN202311640191A CN117367331B CN 117367331 B CN117367331 B CN 117367331B CN 202311640191 A CN202311640191 A CN 202311640191A CN 117367331 B CN117367331 B CN 117367331B
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preset
cloud data
point cloud
area
information
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CN117367331A (en
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高佳锋
曹栋鹏
李翰林
吕伟佳
赵彦伟
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Shanxi Sunshine Three Pole Polytron Technologies Inc
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Shanxi Sunshine Three Pole Polytron Technologies Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • G01B15/06—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation

Abstract

A radar monitoring method and device for mine surface deformation and electronic equipment relate to the technical field of mine surface deformation monitoring. In the method, a target point cloud data set of a preset area is acquired, and first target point cloud data is processed to obtain first mining area earth surface information; processing the cloud data of the second target point to obtain surface information of the second mining area; determining mining area surface variation information of a preset area according to the first mining area surface information and the second mining area surface information; judging whether the surface change information of the mining area meets preset change information or not; when the mining area surface change information meets the preset change information, confirming that the preset area is in an abnormal state, and sending the abnormal state to user equipment so that a user can process the mining area surface deformation of the preset area according to the abnormal state. According to the technical scheme, the problem that the accuracy of monitoring the surface deformation of the mining area is low due to the fact that manual measurement data are recorded in error can be effectively solved.

Description

Radar monitoring method and device for mining area earth surface deformation and electronic equipment
Technical Field
The application relates to the technical field of mining area earth surface deformation monitoring, in particular to a radar monitoring method and device for mining area earth surface deformation and electronic equipment.
Background
The deformation of the surface of the mining area refers to the movement and deformation of the rock stratum and the surface caused by the breaking of the original stress balance state of the overlying rock stratum due to the exploitation of underground mineral resources in the mining area exploitation process. Such movement and deformation not only occurs on the mine but may also reach the entire mine area, thereby causing a series of mine geological environment problems and disasters, such as aquifer damage, building damage, etc. It is important to monitor the deformation of the surface of the mine.
Monitoring of surface deformation of mining areas currently comprises ground water level monitoring and surface displacement monitoring, and monitoring usually requires manual measurement, and displacement observation instruments such as surface displacement monitors and the like are installed on the surface of the mining areas. After the monitoring data are obtained, the situation of the surface deformation of the mining area can be analyzed and estimated according to the monitoring data, and then the monitoring of the surface deformation of the mining area is completed. However, the manual measurement is difficult to ensure that the measurement place at each time is fixed, subjective influence is brought to the measured data and the calculation result, and the manually processed data is recorded manually, so that the probability of errors occurring in the recorded data is increased when the recorded data volume is large in the process of recording the data manually, and the accuracy of monitoring the surface deformation of the mining area is low.
Therefore, a radar monitoring method, a radar monitoring device and an electronic device for mine surface deformation are needed to solve the technical problems.
Disclosure of Invention
The method is used for automatically acquiring monitoring data of a mining area earth surface monitoring area, analyzing the monitoring data and outputting an abnormal state according to an analysis result, and can effectively solve the problem that the accuracy of monitoring the mining area earth surface deformation is low due to recording errors of manual measurement data.
In a first aspect, the present application provides a radar monitoring method for surface deformation of a mining area, the method comprising: acquiring a target point cloud data set of a preset area, wherein the preset area is an area needing to be subjected to mining area surface deformation monitoring, and the target point cloud data set is a set for acquiring a plurality of target point cloud data of different time points; acquiring first target point cloud data and second target point cloud data, wherein the first target point cloud data is target point cloud data corresponding to a first time point in the plurality of target point cloud data, and the second target point cloud data is target point cloud data corresponding to a second time point in the plurality of target point cloud data; processing the cloud data of the first target point to obtain surface information of the first mining area, and processing the cloud data of the second target point to obtain surface information of the second mining area; the first time point and the second time point are any two different time points in the cloud data of the plurality of target points; determining mining area surface variation information of a preset area according to the first mining area surface information and the second mining area surface information; judging whether the surface change information of the mining area meets preset change information or not, wherein the preset change information comprises any one of ground subsidence information, ground crack information and ground subsidence information; when the mining area surface change information meets the preset change information, confirming that the preset area is in an abnormal state, and sending the abnormal state to user equipment so that a user can process the mining area surface deformation of the preset area according to the abnormal state.
By adopting the technical scheme, the influence of human factors on data can be reduced by acquiring the target point cloud data of the preset area, a plurality of target point cloud data of different time points are acquired, the target point cloud data are processed to obtain mining area earth surface information, then the change information of the mining area earth surface is obtained by comparing the target point cloud data of different time points, whether the mining area earth surface change information meets the preset change information is judged, when the mining area earth surface change information meets the preset change information, the preset area is confirmed to be abnormal, the earth surface deformation of the preset area can be processed through an abnormal state, and the problem that the monitoring accuracy is low due to recording errors of manual measurement data is effectively solved.
Optionally, judging whether the mining area earth surface change information meets preset change information or not specifically includes: acquiring a preset ground image, wherein the preset ground image is an image corresponding to rock or vegetation in a preset area shot by an unmanned aerial vehicle; extracting features corresponding to a preset ground image, and calculating the preset ground image according to the features to obtain a first hash value; judging whether the first hash value is equal to the second hash value or not; and if the first hash value is not equal to the second hash value, confirming that the preset ground image meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
By adopting the technical scheme, the unmanned aerial vehicle is used for shooting images corresponding to rocks or vegetation in a preset area, namely preset ground images, then the characteristics of the preset ground images are extracted, and a first hash value is obtained through calculation; when the first hash value is not equal to the second hash value, confirming that the preset ground image meets ground subsidence information, judging and early warning the ground subsidence information are achieved, and accuracy of monitoring the surface deformation of the mining area is improved.
Optionally, after determining whether the first hash value is equal to the second hash value; the method further comprises the steps of: if the first hash value is equal to the second hash value, acquiring a preset ground displacement value, wherein the preset ground displacement value is a value obtained by measuring displacement of a preset area by using a ground displacement observer; judging whether the preset ground displacement value is not in a preset ground displacement threshold value or not; if the preset ground displacement value is not within the preset ground displacement threshold, confirming that the preset ground displacement value meets the ground crack information, wherein the preset change information comprises the ground crack information.
By adopting the technical scheme, the ground displacement observer is used for measuring the preset area to obtain the preset ground displacement value, whether the preset ground displacement value is within the preset ground displacement threshold value is judged according to the measurement result of the preset ground displacement value, when the preset ground displacement value is within the preset ground displacement threshold value, the preset ground displacement value is confirmed to meet the ground crack information, the judgment and the early warning of the ground crack information are realized, and then the change condition of the ground in the preset area is monitored.
Optionally, after determining whether the first hash value is equal to the second hash value; the method further comprises the steps of: if the first hash value is equal to the second hash value, obtaining an underground mining value, wherein the underground mining value is a value obtained by measuring the underground mining depth of a preset area by using a probe; judging whether the underground mining value is larger than or equal to a preset underground mining threshold value; and when the underground mining numerical value is greater than or equal to a preset underground mining threshold value, confirming that the underground mining numerical value meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
By adopting the technical scheme, the probe is used for measuring the underground mining depth of the preset area to obtain the underground mining numerical value, when the underground mining numerical value is greater than or equal to the preset underground mining threshold value, the underground mining numerical value is confirmed to meet the ground subsidence information, the ground subsidence information is judged and early-warned, the ground subsidence risk caused by underground mining is monitored, and the ground subsidence risk is found in advance.
Optionally, acquiring a target point cloud data set of a preset area specifically includes: acquiring preset dense point cloud data, wherein the preset dense point cloud data is any dense point cloud data in a plurality of dense point cloud data, and the dense point cloud data is point cloud data obtained by scanning a preset area by an airborne radar in the low-altitude flight process of the unmanned aerial vehicle above the preset area; acquiring preset scattered point cloud data, wherein the preset scattered point cloud data is any one of a plurality of scattered point cloud data, and the scattered point cloud data is obtained by scanning a preset area by an airborne radar in the high-altitude flight process of the unmanned aerial vehicle above the preset area; performing preset splicing on preset dense point cloud data and preset scattered point cloud data to obtain target point cloud data; acquiring time point data corresponding to cloud data of each target point; and collecting the plurality of target point cloud data and the plurality of time point data to obtain a target point cloud data set.
By adopting the technical scheme, according to the high-altitude and low-altitude flight of the unmanned aerial vehicle, the airborne radar is utilized to scan the preset area to obtain dense point cloud data and scattered point cloud data, and then the preset dense point cloud data and the preset scattered point cloud data are spliced to obtain target point cloud data; and collecting the multiple target point cloud data and the multiple time point data to obtain a target point cloud data set, so as to realize comprehensive monitoring of the ground change of the target area and provide data support for subsequent analysis.
Optionally, when the first mining area and the second mining area are the same mining area, determining mining area surface change information of a preset area according to the first mining area surface information and the second mining area surface information; the method specifically comprises the following steps: according to the cloud data of the first target point, determining first height data corresponding to a first time point of a preset area; according to the cloud data of the second target point, confirming that the preset area is positioned at second height data corresponding to a second time point; determining a plurality of mining area topography change values corresponding to a preset area according to the first height data and the second height data; and calculating a plurality of mining area topography change values to obtain mining area earth surface change values, wherein the mining area earth surface change values are mining area earth surface change information.
By adopting the technical scheme, the first target point cloud data and the second target point cloud data are analyzed, the first height data and the second height data of the preset area are determined, a plurality of mining area topography change values in the preset area are determined according to the first height data and the second height data, then the mining area earth surface change values are obtained by calculating the mining area topography change values, and further the change information of the mining area earth surface is analyzed.
Optionally, confirming that the preset area is in an abnormal state, and sending the abnormal state to the user equipment, specifically including: when the abnormal information corresponding to the abnormal state is ground subsidence information or ground subsidence information, the abnormal state is processed by adopting a preset first processing mode, wherein the preset first processing mode is a processing mode for reinforcing or filling the ground; when the abnormal information corresponding to the abnormal state is ground crack information, the abnormal state is processed by adopting a preset second processing mode, wherein the preset second processing mode is a processing mode for filling the ground or using a steel bar support.
By adopting the technical scheme, the ground subsidence or ground subsidence abnormal information can be subjected to a preset first treatment mode, namely the ground is reinforced or filled, so that the ground subsidence or ground subsidence problem in a preset area can be repaired, and the ground stability is improved; for the abnormal information of the ground cracks, a preset second processing mode is adopted, namely, the ground cracks in a preset area can be repaired by filling the ground or supporting the ground by using reinforcing steel bars, and the structural strength of the ground is enhanced.
In a second aspect of the application, a radar monitoring device for mine surface deformation is provided, the device comprises an acquisition unit, a processing unit and a sending unit; the acquisition unit is used for acquiring a target point cloud data set of a preset area, wherein the preset area is an area needing to be subjected to mining area surface deformation monitoring, and the target point cloud data set is a set of a plurality of target point cloud data acquired at different time points; the processing unit is used for acquiring first target point cloud data and second target point cloud data, wherein the first target point cloud data is target point cloud data corresponding to a first time point in the plurality of target point cloud data, and the second target point cloud data is target point cloud data corresponding to a second time point in the plurality of target point cloud data; processing the cloud data of the first target point to obtain surface information of the first mining area, and processing the cloud data of the second target point to obtain surface information of the second mining area; the first time point and the second time point are any two different time points in the cloud data of the plurality of target points; determining mining area surface variation information of a preset area according to the first mining area surface information and the second mining area surface information; judging whether the surface change information of the mining area meets preset change information or not, wherein the preset change information comprises any one of ground subsidence information, ground crack information and ground subsidence information; and the sending unit confirms that the preset area is in an abnormal state when the mining area surface change information meets the preset change information, and sends the abnormal state to the user equipment so that the user can process the mining area surface deformation of the preset area according to the abnormal state.
Optionally, the acquiring unit is configured to acquire a preset ground image, where the preset ground image is an image corresponding to rock or vegetation in a preset area shot by the unmanned aerial vehicle; the processing unit is used for extracting the characteristics corresponding to the preset ground image, and calculating the preset ground image according to the characteristics to obtain a first hash value; judging whether the first hash value is equal to the second hash value or not; and if the first hash value is not equal to the second hash value, confirming that the preset ground image meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
Optionally, the obtaining unit is configured to obtain a preset ground displacement value if the first hash value is equal to the second hash value, where the preset ground displacement value is a value obtained by measuring displacement of a preset area by using a ground displacement observer; the processing unit is used for judging whether the preset ground displacement value is not in a preset ground displacement threshold value or not; if the preset ground displacement value is not within the preset ground displacement threshold, confirming that the preset ground displacement value meets the ground crack information, wherein the preset change information comprises the ground crack information.
Optionally, the obtaining unit is configured to obtain an underground mining value if the first hash value is equal to the second hash value, where the underground mining value is a value measured by using a probe on an underground mining depth of a preset area; the processing unit is used for judging whether the underground mining numerical value is larger than or equal to a preset underground mining threshold value; and when the underground mining numerical value is greater than or equal to a preset underground mining threshold value, confirming that the underground mining numerical value meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
Optionally, the acquiring unit is configured to acquire preset dense point cloud data, where the preset dense point cloud data is any one dense point cloud data of multiple dense point cloud data, and the dense point cloud data is point cloud data obtained by scanning a preset area by an airborne radar in a low-altitude flight process of the unmanned aerial vehicle above the preset area; the acquisition unit is used for acquiring preset scattered point cloud data, wherein the preset scattered point cloud data is any one of a plurality of scattered point cloud data, and the scattered point cloud data is obtained by scanning a preset area by an airborne radar in the high-altitude flight process of the unmanned aerial vehicle above the preset area; the processing unit is used for carrying out preset splicing on preset dense point cloud data and preset scattered point cloud data to obtain target point cloud data; the acquisition unit is used for acquiring time point data corresponding to cloud data of each target point; the processing unit is used for collecting the plurality of target point cloud data and the plurality of time point data to obtain a target point cloud data set.
Optionally, the processing unit is configured to determine, according to the first target point cloud data, first height data corresponding to a first time point in the preset area when the first mining area and the second mining area are the same mining area; according to the cloud data of the second target point, confirming that the preset area is positioned at second height data corresponding to a second time point; determining a plurality of mining area topography change values corresponding to a preset area according to the first height data and the second height data; and calculating a plurality of mining area topography change values to obtain mining area earth surface change values, wherein the mining area earth surface change values are mining area earth surface change information.
Optionally, when the abnormal information corresponding to the abnormal state is ground subsidence information or ground collapse information, the sending unit is used for processing the abnormal state by adopting a preset first processing mode, wherein the preset first processing mode is a processing mode for reinforcing or filling the ground; and the sending unit is used for processing the abnormal state by adopting a preset second processing mode when the abnormal information corresponding to the abnormal state is ground crack information, wherein the preset second processing mode is a processing mode for filling the ground or using a steel bar support.
In a third aspect the present application provides an electronic device comprising a processor, a memory for storing instructions, a user interface and a network interface for communicating with other devices, the processor for executing instructions stored in the memory, such that an electronic device performs a method as any one of the above described applications.
In a fourth aspect the present application provides a computer readable storage medium storing instructions which, when executed, perform a method of any one of the above-described aspects of the present application.
In summary, one or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. When the ground surface change information of the mining area meets the preset change information, the preset area is confirmed to be abnormal, and the ground surface deformation of the preset area can be processed through an abnormal state, so that the problem that the monitoring accuracy is low due to the fact that manual measurement data are recorded in error is effectively solved.
2. Shooting an image corresponding to rock or vegetation in a preset area, namely a preset ground image, by using an unmanned aerial vehicle, extracting the characteristics of the preset ground image, and calculating to obtain a first hash value; when the first hash value is not equal to the second hash value, confirming that the preset ground image meets ground subsidence information, judging and early warning the ground subsidence information are achieved, and accuracy of monitoring the surface deformation of the mining area is improved.
3. And measuring the preset area by using a ground displacement instrument to obtain a preset ground displacement value, judging whether the preset ground displacement value is within a preset ground displacement threshold according to the measurement result of the preset ground displacement value, and confirming that the preset ground displacement value meets ground crack information when the preset ground displacement value is within the preset ground displacement threshold, so as to judge and early warn the ground crack information and further monitor the change condition of the ground in the preset area.
4. And measuring the underground mining depth of the preset area by using a probe to obtain an underground mining value, and when the underground mining value is greater than or equal to a preset underground mining threshold value, confirming that the underground mining value meets the ground subsidence information, realizing the judgment and early warning of the ground subsidence information, helping to monitor the ground subsidence risk caused by underground mining, and finding out the ground subsidence risk in advance.
Drawings
Fig. 1 is a schematic flow chart of a radar monitoring method for mine surface deformation according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a radar monitoring device for mine surface deformation according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals illustrate: 201. an acquisition unit; 202. a processing unit; 203. a transmitting unit; 300. an electronic device; 301. a processor; 302. a communication bus; 303. a user interface; 304. a network interface; 305. a memory.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments.
In the description of embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described herein as "such as" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "or" for example "is intended to present related concepts in a concrete fashion.
In the description of the embodiments of the present application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The deformation of the surface of the mining area refers to the movement and deformation of the rock stratum and the surface caused by the breaking of the original stress balance state of the overlying rock stratum due to the exploitation of underground mineral resources in the mining area exploitation process. Such movement and deformation not only occurs on the mine but may also reach the entire mine area, thereby causing a series of mine geological environment problems and disasters, such as aquifer damage, building damage, etc. It is important to monitor the deformation of the surface of the mine.
Monitoring of surface deformation of mining areas currently comprises ground water level monitoring and surface displacement monitoring, and monitoring usually requires manual measurement, and displacement observation instruments such as surface displacement monitors and the like are installed on the surface of the mining areas. After the monitoring data are obtained, the situation of the surface deformation of the mining area can be analyzed and estimated according to the monitoring data, and then the monitoring of the surface deformation of the mining area is completed. However, the manual measurement is difficult to ensure that the measurement place at each time is fixed, subjective influence is brought to the measured data and the calculation result, and the manually processed data is recorded manually, so that the probability of errors occurring in the recorded data is increased when the recorded data volume is large in the process of recording the data manually, and the accuracy of monitoring the surface deformation of the mining area is low.
Therefore, how to solve the problem of low accuracy of monitoring the deformation of the ground surface of the mining area due to errors in recorded data when the measurement is performed manually. The radar monitoring method for the deformation of the ground surface of the mining area is applied to a server. The server of the present application may be a platform for providing services for a mine enterprise, and fig. 1 is a schematic flow chart of a radar monitoring method for mine surface deformation according to an embodiment of the present application, and referring to fig. 1, the method includes the following steps S101 to S105.
S101: the method comprises the steps of acquiring a target point cloud data set of a preset area, wherein the preset area is an area needing to be subjected to mining area surface deformation monitoring, and the target point cloud data set is a set of a plurality of target point cloud data acquired at different time points.
In S101, when the server acquires cloud data of the target points corresponding to the preset area, the server may scan the entire mining area through a three-dimensional scanning device such as a machine radar or a three-dimensional camera to obtain a set of three-dimensional points, where each target point may include coordinate information in a three-dimensional space, and the target point may represent construction equipment, vegetation, and objects in the mining area.
In the application, the target point cloud comprises dense point clouds and scattered point clouds, wherein the dense point clouds are a set of target point data with a large number and a large distance, which are acquired through three-dimensional scanning equipment. The shape and the appearance of the surface of the mining area can be finely represented through a large number of dense point clouds, and the overall appearance of the topography of the mining area can be reconstructed through a three-dimensional scene. The scattered point cloud number is a set of target point data with smaller quantity and larger distance obtained through three-dimensional measuring equipment. Scattered points are also characteristic points, i.e. target points of more obvious characteristics in the scanned mine surface, which can represent the geometric shape and the outline of the mine surface, such as construction equipment in the mine surface, mine slope points and other characteristic points.
Before acquiring a point cloud data set of a preset area, the server needs to acquire the point cloud data of the preset area, and firstly, the unmanned aerial vehicle needs to fly high altitude in the preset area, and in the flying process, an airborne radar of the unmanned aerial vehicle scans the preset area to adopt scattered point clouds. The airborne Radar is a Laser (Laser Radar), and is a Radar system that emits a Laser beam to detect the position, speed and other characteristic quantities of a preset area. The working principle is that a detection signal (laser beam) is emitted to a preset area, then the received echo signal reflected from the preset area is compared with the detection signal, and after proper processing, the related information of the preset area, such as the parameters of the distance, azimuth, altitude, speed, gesture, shape and the like of the expected area, can be obtained. The preset area is an area needing to be subjected to mining area ground surface deformation monitoring, and can be a goaf, a dumping site, a tailing pond, an industrial site or the ground of the surrounding environment. Goaf refers to the area where a cavity or tunnel is left after mining on the ore body; the dumping site refers to a solid waste dumping site of a mining area; the tailing pond refers to a place for discharging solid waste generated during ore dressing in a mining area; the industrial sites refer to sites occupied by industrial facilities such as mining, ore dressing, refining and the like; the scene of the surrounding environment refers to the geological environment surrounding the mine.
Each time when carrying out target point cloud data acquisition, unmanned aerial vehicle's opportunity is based on operating personnel's custom, selects high altitude flight or low altitude flight, and high altitude flight is unmanned aerial vehicle's fly height is higher than the height of predetermineeing regional highest point, and the highest point is 8 meters in the mining area earth's surface area promptly, and unmanned aerial vehicle's fly height setting can not be less than 8 meters in current unmanned aerial vehicle's planning route. The flight route can be extracted and planned according to the area and the shape of a preset area, so that the unmanned aerial vehicle can scan the monitoring area of the ground surface of the whole mining area. In the flight process of the unmanned aerial vehicle according to the route planned in advance, the radar is recorded to scan the preset area in real time, and a set of three-dimensional target points with a small number, namely a scattered point cloud, is obtained. Meanwhile, in order to facilitate the subsequent construction of the preset area in the three-dimensional coordinate system, the position of the unmanned aerial vehicle and the known attitude of the airborne radar can be obtained in real time, so that the three-dimensional coordinates of each three-dimensional target point in the scattered point cloud in the regional coordinate system can be calculated.
According to the scattered point cloud obtained by the first scanning, the height data of the WeChat feature points of the preset area, such as the corresponding height of the highest construction equipment in the surface of the current mining area, can be determined. And the flight height of the unmanned aerial vehicle can be further planned according to the height data of the plurality of characteristic points, so that the flight height of the unmanned aerial vehicle is more attached to a preset area, the three-dimensional target points acquired by the airborne radar are more dense, and the dense point cloud is obtained. For example, when planning the path of the unmanned aerial vehicle, the preset area can be set based on the height of the current area, the preset area is divided into a plurality of subareas, and the height data corresponding to the different subareas are different. Since the path planning of the unmanned aerial vehicle is a conventional technical means in the related technical field and is not the focus of the application, further description is omitted here.
When monitoring the deformation of the mine surface of the preset area, the preset area can be acquired for multiple times in order to ensure the accuracy of monitoring data, and the dense point cloud and the scattered point cloud are acquired each time.
After the unmanned aerial vehicle flies for many times to collect a plurality of dense point clouds and a plurality of scattered point clouds, time data collected by each three-dimensional target point is obtained, the time data are marked in the data of the three-dimensional target point, and finally, the point cloud data and the time data are sent to a server. The server acquires a plurality of dense point cloud data and a plurality of scattered point cloud data. And the server performs preset splicing on the preset dense point cloud data and the preset scattered point cloud data acquired in the same flight process, wherein the preset splicing process is as follows.
The method comprises the steps of preprocessing the preset dense point cloud data and the preset scattered point cloud data, denoising, filtering and the like, registering the processed preset dense point cloud data and the preset scattered point cloud data, namely aligning the preset dense point cloud data and the preset mode point cloud data into the same coordinate system. The point cloud registration algorithm, such as ICP (Iterative Closest Point) algorithm, may be used to best match the corresponding points between the two sets of point clouds by iteratively optimizing the rotation, translation, and scale of the point clouds. And after the point cloud registration is completed, splicing the preset dense point cloud data and the preset scattered point cloud data. The point cloud coordinates of the two sets of point cloud data may be combined to form one complete target point cloud data. In order to ensure the integrity of the spliced target point cloud data, the data can be corrected, including operations of removing repeated points, correcting abnormal points and the like, so as to improve the accuracy of the point cloud data. In order to obtain target point cloud data sets corresponding to different time points, preset dense point cloud data and preset scattered point cloud data acquired in a single flight process can be combined with corresponding time data in the current single flight process, and the acquired data are packaged to obtain a point cloud data subset. And the set of the point cloud data subsets obtained at different time points of the preset area is the target point cloud data set.
S102: the method comprises the steps of obtaining first target point cloud data and second target point cloud data, processing the first target point cloud data to obtain first mining area surface information, and processing the second target point cloud data to obtain second mining area surface information.
In S102, the dense point cloud data and the scattered point cloud data obtained by scanning in a single flight process of the unmanned aerial vehicle are spliced in a preset manner, so as to obtain target point cloud data. And obtaining a plurality of target point cloud data through multiple flights of the unmanned aerial vehicle, wherein any two target point cloud data, namely the first target point cloud data and the second target point cloud data are taken as an example. The first target point cloud data is target point cloud data corresponding to a first time point in the plurality of target point cloud data, and the second target point cloud data is target point cloud data corresponding to a second time point in the plurality of target point cloud data. And the first time point and the second time point are any two different time points in the cloud data of the plurality of target points.
The first time point and the second time point are any two different time points in the cloud data of the target points;
s103: and determining mining area surface change information of a preset area according to the first mining area surface information and the second mining area surface information.
In S103, in order to better monitor the preset area, the preset area may be divided into a plurality of sub-areas. After dividing the preset area into a plurality of subareas, each subarea correspondingly comprises first target point cloud data and second target point cloud data. The relative height of any three-dimensional target point in the preset area can be calculated according to the three-dimensional coordinate system, and if the three-dimensional target point is set as the first target point cloud data, the height corresponding to the first target point cloud data at the first time point, namely the first height data, is further obtained. And acquiring the corresponding height of the cloud data of the second target point at the second time, namely second height data. At this time, the first target point cloud data and the second target point cloud data are the same three-dimensional target point. Determining a plurality of mining area topography change values corresponding to a preset area according to the first height data and the second height data; and the plurality of first height data and the plurality of second height data are corresponding to ensure that the current height data are all from the same position, and then the difference value is calculated according to the first height data and the second height data to obtain the mining area topography change value. Since the first height data and the second height data are heights corresponding to different time points at the same position. And calculating three-dimensional target points at other positions in the subareas according to the steps, and further obtaining a plurality of mining area topography change values corresponding to the preset area. Determining mining area topography change values of a preset area according to the mining area topography change values; and counting and analyzing the plurality of mining area topography variation values, and further calculating an average value, wherein the average value is the mining area topography variation value of the preset area. The first and second mine areas are now referred to as being in the same mine area.
Because a plurality of mining area topography change values exist in the preset area, the plurality of mining area topography change values form a mining area surface change value, and the mining area surface change value is mining area surface change information. The terrain change values of the plurality of mining areas can be weighted, so that the earth surface change value of the whole mining area is obtained. The deformation of the ground surface of the mining area can be analyzed based on the change value of the topography of the mining area, so that the change information of the ground surface of the mining area can be obtained. And comparing the first height data with the second height data to obtain a mining area topography change value of a preset area, wherein the mining area topography change value represents regional surface deformation in the mining area caused by over exploitation of resources in the current mining area. And (3) determining the deformation condition of the surface of the mining area of the preset area by calculating the mining area topography change values of different subareas in the preset area. And quantifying the change amount of the deformation of the surface of the mining area by calculating the topography value of the mining area so as to facilitate the subsequent description of the change of the deformation of the surface of the mining area by using a numerical mode. And calculating the corresponding mining area surface change information in the preset area through the content, and when the first mining area and the second mining area are not in the same mining area, calculating the mining area surface change information corresponding to the first mining area according to the process in sequence, and further obtaining the mining area surface change information of the current mining area according to the height data at different time points.
S104: judging whether the surface change information of the mining area meets preset change information or not, wherein the preset change information comprises any one of ground subsidence information, ground crack information and ground subsidence information.
In the step S104, when the deformation of the mine surface is monitored, it is required to determine that the deformation of the mine surface includes ground subsidence, ground cracks and ground collapse, and when the above three conditions occur, the deformation of the mine surface in the preset area is confirmed. Wherein. And respectively acquiring a ground image, a ground displacement value and an underground mining value corresponding to the preset area, and further determining preset change information satisfied by the preset area. In order to further confirm the abnormal situation specifically occurring in the preset area, it may be determined in the following manner that the preset area specifically satisfies that abnormal situation.
The server acquires an image corresponding to rock or vegetation in a preset area shot by the unmanned aerial vehicle, namely a preset ground image. The surface characteristics of the mining area, such as rock, soil, vegetation and the like, can be observed to further judge whether the mining area has obvious sedimentation phenomenon. After the server acquires the preset ground image, preprocessing the acquired original image, and adjusting the image into the same size and resolution. In the process of filtering the preset ground image, the filtering operation is used for balancing the image and reducing the influence of noise on the hash value. The corresponding features of the ground image are preset in advance, and the feature extraction method is to calculate the gray level histogram of the image, namely the number of pixels at every gray level. The features may be information of color, texture, shape, etc. of the image. The feature extraction aims at capturing visual features of the image, and then a hash value of a preset ground image is calculated according to the extracted features to obtain a first hash value. Judging whether the first hash value is equal to a second hash value or not, wherein the second hash value is the hash value of a corresponding image of rock or vegetation in a preset area in a normal state, and when the first hash value is not equal to the second hash value, confirming that the preset ground image meets ground subsidence information, and confirming that the preset ground image of the preset area meets preset change information at the moment, wherein the preset change information comprises ground subsidence information.
Further, when the first hash value is equal to the second hash value, the server acquires a preset ground displacement value, wherein the preset ground displacement value is the displacement of the preset area measured by using the ground displacement observer; ground displacement observation is arranged on the ground of a preset area, and the underground structure movement condition is judged by measuring the displacement change of the ground surface, so that whether a crack condition exists is judged. And judging whether the preset ground displacement value is not in a preset ground displacement threshold value or not, wherein the preset ground displacement threshold value is a displacement value corresponding to the position of the historical monitoring, and the value is set according to the historical monitoring data. For example, the displacement value of the last time is 21, and it is confirmed that no deformation of the mine surface occurs in the preset area, that is, the preset ground displacement threshold is set to 21. When it is confirmed that the deformation of the ground surface of the mining area occurs in the preset area, the setting of the preset ground displacement threshold value can refer to other ground displacement values with the history in a normal state. If the preset ground displacement value is not within the preset ground displacement threshold, confirming that the preset ground displacement value meets the ground crack information, and confirming that the preset ground displacement value of the preset area meets preset change information at the moment, wherein the preset change information comprises the ground crack information.
When the preset ground displacement value is in the preset ground displacement threshold value, confirming that the preset ground displacement value does not meet the ground crack information, namely that the preset ground displacement value in the preset area does not meet the preset change information, wherein the preset change information comprises the ground crack information.
Still further, if the first hash value is equal to the second hash value, the server obtains an underground mining value, the underground mining value being a value measured for a preset area underground mining depth by using a probe, the underground mining value representing the depth of the underground of the mining area; in measuring the depth of underground mining in a mine, probes may be used to determine the location and depth of the underground deposit. In addition to using probes to measure depth of underground mining, seismometers, seismic sensors, and electromagnetic sounding devices may be selected to measure depth of first mining, and specific selection of which mode to measure depth of underground mining may be selected based on actual conditions and is not limited herein. After the underground mining numerical value is obtained, judging whether the underground mining numerical value is larger than or equal to a preset underground mining threshold value, wherein the preset underground mining threshold value is a maximum threshold value of mining underground depth of a mining area. And when the underground mining numerical value is greater than or equal to a preset underground mining threshold value, confirming that the underground mining numerical value meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
And when the underground mining numerical value is smaller than a preset underground mining threshold value, confirming that the underground mining numerical value does not meet the ground subsidence information.
S105: when the mining area surface change information meets the preset change information, confirming that the preset area is in an abnormal state, and sending the abnormal state to user equipment so that a user can process the mining area surface deformation of the preset area according to the abnormal state.
In S105, when the surface change information of the mining area satisfies the preset change information, different preset change information is satisfied according to the preset area, so as to obtain an abnormal state corresponding to the preset area, and different preset change information corresponds to different abnormal states. The abnormal state indicates the situation that the surface deformation exists in the preset area, the surface deformation needs to be processed in time, and the risk of geological disasters in the mining area is reduced. After confirming that the preset area is in an abnormal state, the server sends the abnormal state to the user equipment, and the user equipment is electronic equipment used by related personnel responsible for safety monitoring of the mining area of the preset area.
When the preset area meets the ground subsidence information or the ground subsidence information, the abnormal information corresponding to the abnormal state outputs the ground subsidence information or the ground subsidence information corresponding to the preset area, and when the abnormal information corresponding to the abnormal state is the ground subsidence information or the ground subsidence information, the abnormal state is processed by adopting a preset first processing mode, wherein the preset first processing mode is a processing mode for reinforcing or filling the ground of the preset area, so that the abnormal state in the mining area is solved.
When the preset area meets the ground crack information, the abnormal information corresponding to the abnormal state outputs the ground crack information corresponding to the preset area, and when the abnormal information corresponding to the abnormal state is the ground crack information, a preset second processing mode is adopted to process the abnormal state, and the preset second processing mode is a processing mode of filling the ground of the preset area or supporting by using steel bars, so that the abnormal state in the mining area is solved. In order to facilitate the user to process the deformation of the ground surface of the mining area in the preset area, the abnormal state and the preset first processing mode or the preset second processing mode can be both sent to the user equipment, so that the user can process the abnormal state according to the preset first processing mode or the preset second processing mode.
The embodiment of the application also provides a radar monitoring device for mine surface deformation, and fig. 2 is a schematic structural diagram of the radar monitoring device for mine surface deformation, and referring to fig. 2, the device includes an obtaining unit 201, a processing unit 202 and a sending unit 203.
The acquiring unit 201 acquires a target point cloud data set of a preset area, wherein the preset area is an area needing to be subjected to mining area surface deformation monitoring, and the target point cloud data set is a set of a plurality of target point cloud data acquired at different time points.
The processing unit 202 obtains first target point cloud data and second target point cloud data, wherein the first target point cloud data is target point cloud data corresponding to a first time point in the plurality of target point cloud data, and the second target point cloud data is target point cloud data corresponding to a second time point in the plurality of target point cloud data; processing the cloud data of the first target point to obtain surface information of the first mining area, and processing the cloud data of the second target point to obtain surface information of the second mining area; the first time point and the second time point are any two different time points in the cloud data of the plurality of target points; determining mining area surface variation information of a preset area according to the first mining area surface information and the second mining area surface information; judging whether the surface change information of the mining area meets preset change information or not, wherein the preset change information comprises any one of ground subsidence information, ground crack information and ground subsidence information.
And a sending unit 203, configured to confirm that the preset area is in an abnormal state when the mining area surface change information meets the preset change information, and send the abnormal state to the user equipment, so that the user can process the mining area surface deformation of the preset area according to the abnormal state.
In a possible implementation manner, the obtaining unit 201 is configured to obtain a preset ground image, where the preset ground image is an image corresponding to rock or vegetation in a preset area captured by the unmanned aerial vehicle; the processing unit 202 is configured to extract features corresponding to a preset ground image, and calculate the preset ground image according to the features to obtain a first hash value; judging whether the first hash value is equal to the second hash value or not; and if the first hash value is not equal to the second hash value, confirming that the preset ground image meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
In a possible implementation manner, the obtaining unit 201 is configured to obtain a preset ground displacement value if the first hash value is equal to the second hash value, where the preset ground displacement value is a value obtained by measuring displacement of a preset area using a ground displacement observer; the processing unit 202 is configured to determine whether the preset ground displacement value is not within a preset ground displacement threshold; if the preset ground displacement value is not within the preset ground displacement threshold, confirming that the preset ground displacement value meets the ground crack information, wherein the preset change information comprises the ground crack information.
In a possible implementation manner, the obtaining unit 201 is configured to obtain the underground mining value if the first hash value is equal to the second hash value, where the underground mining value is a value measured on the underground mining depth of the preset area by using the probe; the processing unit 202 is configured to determine whether the underground mining value is greater than or equal to a preset underground mining threshold; and when the underground mining numerical value is greater than or equal to a preset underground mining threshold value, confirming that the underground mining numerical value meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
In a possible implementation manner, the obtaining unit 201 is configured to obtain preset dense point cloud data, where the preset dense point cloud data is any one dense point cloud data of multiple dense point cloud data, and the dense point cloud data is point cloud data obtained by scanning a preset area by an airborne radar during a low-altitude flight of the unmanned aerial vehicle above the preset area; the acquiring unit 201 is configured to acquire preset dispersed point cloud data, where the preset dispersed point cloud data is any one dispersed point cloud data of a plurality of dispersed point cloud data, and the dispersed point cloud data is point cloud data obtained by scanning a preset area by an airborne radar during a high-altitude flight of the unmanned aerial vehicle above the preset area; the processing unit 202 is configured to perform preset stitching on preset dense point cloud data and preset scattered point cloud data to obtain target point cloud data; the acquiring unit 201 is configured to acquire time point data corresponding to cloud data of each target point; the processing unit 202 is configured to aggregate the plurality of target point cloud data and the plurality of time point data to obtain a target point cloud data set.
In a possible implementation manner, the processing unit 202 is configured to determine, according to the first target point cloud data, first altitude data corresponding to a preset area at a first time point when the first mining area and the second mining area are the same mining area; according to the cloud data of the second target point, confirming that the preset area is positioned at second height data corresponding to a second time point; determining a plurality of mining area topography change values corresponding to a preset area according to the first height data and the second height data; and calculating a plurality of mining area topography change values to obtain mining area earth surface change values, wherein the mining area earth surface change values are mining area earth surface change information.
In a possible implementation manner, when the abnormal information corresponding to the abnormal state is ground subsidence information or ground collapse information, the sending unit 203 is configured to process the abnormal state by adopting a preset first processing manner, where the preset first processing manner is a processing manner of reinforcing or filling the ground; the sending unit 203 is configured to process the abnormal state by adopting a preset second processing mode when the abnormal information corresponding to the abnormal state is ground crack information, where the preset second processing mode is a processing mode for filling the ground or using a steel bar support.
It should be noted that: in the device provided in the above embodiment, when implementing the functions thereof, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be implemented by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the embodiments of the apparatus and the method provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the embodiments of the method are detailed in the method embodiments, which are not repeated herein.
The application also discloses electronic equipment. Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, at least one communication bus 302.
Wherein the communication bus 302 is used to enable connected communication between these components.
The user interface 303 may include a Display screen (Display), a Camera (Camera), and the optional user interface 303 may further include a standard wired interface, and a wireless interface.
The network interface 304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the processor 301 may include one or more processing cores. The processor 301 utilizes various interfaces and lines to connect various portions of the overall server, perform various functions of the server and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and invoking data stored in the memory 305. Alternatively, the processor 301 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 301 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem etc. The CPU mainly processes an operating system, a user interface, an application request and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 301 and may be implemented by a single chip.
The Memory 305 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 305 may be used to store instructions, programs, code, sets of codes, or sets of instructions. Memory 305 may include a program area and a data area, where the program area is stored. Instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc. may be stored; the storage data area may store data or the like involved in the above respective method embodiments. Memory 305 may also optionally be at least one storage device located remotely from the aforementioned processor 301.
As shown in fig. 3, an operating system, a network communication module, a user interface module, and an application program for radar monitoring of mine surface deformation may be included in the memory 305 as a computer storage medium.
In the electronic device 300 shown in fig. 3, the user interface 303 is mainly used for providing an input interface for a user, and acquiring data input by the user; and processor 301 may be used to invoke an application in memory 305 that stores radar monitoring of mine surface deformation, which when executed by one or more processors, causes the electronic device to perform the method as described in one or more of the embodiments above.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided herein, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a magnetic disk or an optical disk.
The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains.

Claims (9)

1. A radar monitoring method for surface deformation of a mine, the method comprising:
acquiring a target point cloud data set of a preset area, wherein the preset area is an area needing to be subjected to mining area surface deformation monitoring, and the target point cloud data set is a set of a plurality of target point cloud data acquired at different time points;
acquiring first target point cloud data and second target point cloud data, wherein the first target point cloud data is target point cloud data corresponding to a first time point in the plurality of target point cloud data, and the second target point cloud data is target point cloud data corresponding to a second time point in the plurality of target point cloud data; processing the first target point cloud data to obtain first mining area earth surface information, and processing the second target point cloud data to obtain second mining area earth surface information; the first time point and the second time point are any two different time points in the cloud data of the target points;
Determining mining area surface variation information of the preset area according to the first mining area surface information and the second mining area surface information;
judging whether the mining area earth surface change information meets preset change information or not, wherein the preset change information comprises any one of ground subsidence information, ground crack information and ground subsidence information; the judging whether the mining area earth surface change information meets preset change information or not specifically comprises the following steps: acquiring a preset ground image, wherein the preset ground image is an image corresponding to rock or vegetation in the preset area shot by the unmanned aerial vehicle; extracting the corresponding characteristics of the preset ground image, and calculating the preset ground image according to the characteristics to obtain a first hash value; judging whether the first hash value is equal to a second hash value or not; if the first hash value is not equal to the second hash value, confirming that the preset ground image meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information;
when the mining area earth surface change information meets the preset change information, confirming that the preset area is in an abnormal state, and sending the abnormal state to user equipment so that a user can process the mining area earth surface deformation of the preset area according to the abnormal state.
2. The method of claim 1, wherein after said determining whether the first hash value is equal to a second hash value; the method further comprises the steps of:
if the first hash value is equal to the second hash value, a preset ground displacement value is obtained, wherein the preset ground displacement value is obtained by measuring displacement of the preset area by using a ground displacement observer;
judging whether the preset ground displacement value is not in a preset ground displacement threshold value or not;
and if the preset ground displacement value is not within the preset ground displacement threshold, confirming that the preset ground displacement value meets the ground fracture information, wherein the preset change information comprises the ground fracture information.
3. The method of claim 1, wherein after said determining whether the first hash value is equal to a second hash value; the method further comprises the steps of:
if the first hash value is equal to the second hash value, obtaining an underground mining value, wherein the underground mining value is a value measured by using a probe for the underground mining depth of the preset area;
judging whether the underground mining value is larger than or equal to a preset underground mining threshold value;
And when the underground mining numerical value is greater than or equal to the preset underground mining threshold value, confirming that the underground mining numerical value meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information.
4. The method according to claim 1, wherein the acquiring the target point cloud data set of the preset area specifically includes:
acquiring preset dense point cloud data, wherein the preset dense point cloud data is any one of a plurality of dense point cloud data, and the dense point cloud data is obtained by scanning a preset area by an airborne radar in the low-altitude flight process of an unmanned aerial vehicle above the preset area;
acquiring preset scattered point cloud data, wherein the preset scattered point cloud data is any one of a plurality of scattered point cloud data, and the scattered point cloud data is obtained by scanning a preset area by an airborne radar in the high-altitude flight process of an unmanned aerial vehicle above the preset area;
performing preset splicing on the preset dense point cloud data and the preset scattered point cloud data to obtain the target point cloud data;
acquiring time point data corresponding to each target point cloud data;
And collecting the plurality of target point cloud data and the plurality of time point data to obtain the target point cloud data set.
5. The method of claim 1, wherein when a first mine is the same mine as a second mine, determining mine surface variation information of the preset area according to the first mine surface information and the second mine surface information; the method specifically comprises the following steps:
according to the first target point cloud data, determining first height data corresponding to the first time point of the preset area;
according to the second target point cloud data, confirming that the preset area is located in second height data corresponding to the second time point;
determining a plurality of mining area topography change values corresponding to the preset area according to the first height data and the second height data;
and calculating a plurality of mining area topography change values to obtain mining area earth surface change values, wherein the mining area earth surface change values are the mining area earth surface change information.
6. The method of claim 1, wherein the determining that the preset area is in an abnormal state, and sending the abnormal state to the user equipment specifically includes:
When the abnormal information corresponding to the abnormal state is the ground subsidence information or the ground subsidence information, a preset first processing mode is adopted to process the abnormal state, and the preset first processing mode is a ground reinforcing or filling processing mode;
and when the abnormal information corresponding to the abnormal state is the ground crack information, adopting a preset second processing mode to process the abnormal state, wherein the preset second processing mode is a processing mode for filling the ground or using a steel bar support.
7. A radar monitoring device for mine surface deformation, characterized in that the device comprises an acquisition unit (201), a processing unit (202) and a sending unit (203);
the acquisition unit (201) acquires a target point cloud data set of a preset area, wherein the preset area is an area needing to be subjected to mining area surface deformation monitoring, and the target point cloud data set is a set for acquiring a plurality of target point cloud data of different time points;
the processing unit (202) acquires first target point cloud data and second target point cloud data, wherein the first target point cloud data is target point cloud data corresponding to a first time point in the plurality of target point cloud data, and the second target point cloud data is target point cloud data corresponding to a second time point in the plurality of target point cloud data; processing the first target point cloud data to obtain first mining area earth surface information, and processing the second target point cloud data to obtain second mining area earth surface information; the first time point and the second time point are any two different time points in the cloud data of the target points; determining mining area surface variation information of the preset area according to the first mining area surface information and the second mining area surface information; judging whether the mining area earth surface change information meets preset change information or not, wherein the preset change information comprises any one of ground subsidence information, ground crack information and ground subsidence information; the judging whether the mining area earth surface change information meets preset change information or not specifically comprises the following steps: acquiring a preset ground image, wherein the preset ground image is an image corresponding to rock or vegetation in the preset area shot by the unmanned aerial vehicle; extracting the corresponding characteristics of the preset ground image, and calculating the preset ground image according to the characteristics to obtain a first hash value; judging whether the first hash value is equal to a second hash value or not; if the first hash value is not equal to the second hash value, confirming that the preset ground image meets the ground subsidence information, wherein the preset change information comprises the ground subsidence information;
And the sending unit (203) confirms that the preset area is in an abnormal state when the mining area surface change information meets the preset change information, and sends the abnormal state to user equipment so that a user can process mining area surface deformation of the preset area according to the abnormal state.
8. An electronic device comprising a processor (301), a memory (305), a user interface (303) and a network interface (304), the memory (305) being for storing instructions, the user interface (303) and the network interface (304) being for communicating with other devices, the processor (301) being for executing the instructions stored in the memory (305) to cause the electronic device (300) to perform the method according to any of claims 1-6.
9. A computer readable storage medium storing instructions which, when executed, perform the method of any one of claims 1-6.
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