基于测量机器人的露天矿边坡变形在线分析与预测

近年来，由于矿区边坡地质灾害的频繁发生，严重威胁到人们的生命财产安全，已成为社会关注的焦点之一.因此，寻找一种能够实时、动态获取监测数据，快速、精确分析与预测边坡变形机理的自动变形监测技术是目前边坡监测工程所亟需解决的问题之一.基于测量机器人的露天矿边坡在线分析与预测技术，通过控制测量机器人对边坡实施远程、长时、精准的无人观测，并结合矿山基准网，自动改正监测点三维坐标值，从时间与空间上分析边坡形变特征，合理预测矿区边坡未来发展趋势.以广东某矿山监测试验为例，监测结果表明，从时间连续性上看，边坡在水平方向上随周期变化总体在往东偏移，垂直方向上矿区地基正在下沉，并预测矿区具有崩塌的危险.从空间无缝性上看，变形的部位集中在变形区西部以及中部的散点区，靠近开采区的位移变形量大于远离开采区的变形量，说明矿山开采对边坡变形的影响很大.经过外业实地测量后证明，该技术适用于矿山边坡工程中远程、无人、长时、全天候的自动监测. 

Online analysis and prediction of open-pit mine slope deformation based on measuring robot

In recent years, the frequent geological disasters in the slopes of mining areas, which seriously threaten people's lives and property, have become the focus of the society. Therefore, it is an urgent problem for current slope monitoring engineering to find an automatic deformation monitoring technology that can acquire monitoring data in real time and dynamically, along with quick and accurate analysis and prediction for the deformation mechanism of slope. Based on measuring robots, online analysis and prediction technology of open pit slope automatically corrected the three-dimensional coordinate values of the monitoring points, analyzed the deformation characteristics of the slope from time and space, and reasonably predicted the future development trend of the slope in the mining area by controlling the measuring robot to implement remote, long-term and accurate unmanned observation of the slope. Taking a mine monitoring test in Guangdong as an example, the results showed that, from the perspective of time continuity, the slope changed in the horizontal direction with the eastward shifting. And the mining area, which was sinking in the vertical direction, was predicted to collapse. The danger of the space was that the deformation was concentrated in the western part of the deformation zone and the scatter zone in the middle. The displacement deformation near the mining area was greater than that of away from the mining area, indicating the great impact of mining on the slope deformation. After field measurement, it was proved that the technology was suitable for automatic monitoring of remote, unmanned, long-term and all-weather in mine slope engineering.