Method and device for automatically collecting open-pit mine data and intelligent collection equipment

Abstract

The application discloses a kind of automatic acquisition open-pit mine data method, device and intelligent acquisition equipment, the method is by the current data acquisition direction of each sensor on intelligent acquisition equipment, automatically calculate the total data acquisition area of intelligent acquisition equipment, and when judging that total data acquisition area can cover the mining area required to be collected, directly according to the data acquisition direction of all sensors and the current position of sensor, the topographic data of the mining area required to be collected jointly generate the data acquisition control parameter of intelligent acquisition equipment, can improve the generation accuracy of the data acquisition control parameter of intelligent acquisition equipment, to improve the collection accuracy and efficiency of open-pit mine data in the mining area required to be collected, and then it is favorable to improve the mining efficiency and accuracy of ore in the mining area required to be collected.

Description

Technical Field

[0001] This invention relates to the field of open-pit mining technology, and in particular to a method, apparatus, and intelligent acquisition device for automatically acquiring open-pit mine data. Background Technology

[0002] Open-pit mines involve removing the topsoil and surrounding rock covering the ore body, transporting the waste rock to a spoil heap, and directly extracting ore from the exposed ore body.

[0003] Currently, the common practice is to drive the data acquisition equipment to the vicinity of the mine, then control the bucket of the equipment to excavate the ore, and finally transport the excavated rock or ore to a designated location for mining. However, practice has shown that due to the complexity of open-pit mine operations, directly controlling the bucket for mining is not an efficient way to extract ore. Therefore, proposing a technical solution to improve the efficiency of open-pit mine data acquisition is particularly important. Summary of the Invention

[0004] This invention provides a method, apparatus, and intelligent acquisition device for automatically collecting open-pit mine data, which can improve the efficiency of open-pit mine data collection.

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a method for automatically collecting open-pit mine data, the method comprising:

[0006] When a data collection request for open-pit mine data is detected, the target area to be collected and the terrain data of the target area are determined according to the collection request, and the current position and current data collection direction of each sensor in the intelligent collection device are obtained.

[0007] Based on the current position of each sensor, determine the data acquisition area of ​​that sensor for the target area along its current data acquisition direction;

[0008] Based on the data acquisition area corresponding to each sensor, calculate the total data acquisition area corresponding to all sensors, and determine whether the total data acquisition area covers the target area;

[0009] When the judgment result is yes, the control parameters of the intelligent acquisition device are generated based on the terrain data of the target area, the current position of all the sensors, and the current data acquisition direction of all the sensors. The control parameters of the intelligent acquisition device include the data acquisition control parameters of the intelligent acquisition device.

[0010] Based on the generated control parameters of the intelligent acquisition device, the intelligent acquisition device is controlled to perform the operation of acquiring open-pit mine data of the target area.

[0011] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0012] When the judgment result is negative, analyze the total data collection area and the target area to obtain the uncovered area in the target area;

[0013] Based on the current location of the intelligent data acquisition device and the uncovered area, the area that the intelligent data acquisition device needs to advance is determined, and road surface data of the area that the intelligent data acquisition device needs to advance is collected. The road surface data includes one or more of the following: road surface pothole data, road surface humidity, road surface slope, road surface roughness, and road surface smoothness.

[0014] Based on the road surface data of the area that the intelligent acquisition device needs to advance to, analyze the bumpiness of the intelligent acquisition device as it moves towards the area that it needs to advance to, and determine whether the bumpiness will affect the data collected by each of the sensors in the open-pit mine during the movement of the intelligent acquisition device.

[0015] When the judgment result is negative, the movement control parameters of the intelligent acquisition device are generated based on the area that the intelligent acquisition device needs to advance, the current position of the intelligent acquisition device, and the road surface data of the area that the intelligent acquisition device needs to advance. The movement control parameters of the intelligent acquisition device are used to control the intelligent acquisition device to move and collect open-pit mine data in the target area.

[0016] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0017] When it is determined that the bumps during the movement of the intelligent data acquisition device will affect the open-pit mine data collected by each of the sensors, the impact of the bumps on the open-pit mine data collected by each sensor is estimated. The impact on each sensor includes one or more of the following: the integrity of the open-pit mine data collected by each sensor, noise, and stability. The integrity of the open-pit mine data collected by each sensor is used to indicate the amount of data and / or the completeness of the data types collected by the sensor. The stability of the open-pit mine data collected by each sensor is used to indicate the ability of the sensor to collect open-pit mine data per unit time.

[0018] The step of generating movement control parameters for the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, and road surface data of the area the intelligent data acquisition device needs to advance includes:

[0019] Based on the area that the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to advance, and the influence of each sensor, the movement control parameters of the intelligent data acquisition device are generated. The movement control parameters of the intelligent data acquisition device include movement speed control parameters and movement direction control parameters.

[0020] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0021] Based on the current data acquisition direction of each sensor, determine the target sensor whose current data acquisition direction is closest to the uncovered area from all the sensors;

[0022] Based on the data acquisition area of ​​the target sensor and the uncovered area, determine the acquisition point in the uncovered area that is farthest from the data acquisition area of ​​the target sensor;

[0023] Based on the location of the farthest acquisition point in the uncovered area and the current location of the target sensor, calculate the target direction formed by the current location of the target sensor pointing to the location of the farthest acquisition point in the uncovered area;

[0024] Calculate the angle between the data acquisition direction of the target sensor and the target direction, determine the actual maximum rotatable angle of the target sensor, and determine whether the actual maximum rotatable angle is greater than or equal to the angle corresponding to the uncovered area;

[0025] If the judgment result is negative, the operation of determining the area that the intelligent acquisition device needs to advance to is performed based on the current position of the intelligent acquisition device and the uncovered area.

[0026] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0027] When it is determined that the actual maximum rotatable angle is greater than or equal to the included angle corresponding to the uncovered area, a correspondence is established between the uncovered area, the current data acquisition direction of the target sensor, and the included angle corresponding to the uncovered area.

[0028] The step of generating control parameters for the intelligent data acquisition device based on terrain data of the target area, the current positions of all sensors, the current data acquisition directions of all sensors, and the uncovered areas includes:

[0029] Based on the terrain data of the target area, the current positions of all the sensors, the current data acquisition directions of all the sensors, the uncovered areas and their corresponding relationships, control parameters for the intelligent acquisition device are generated. The control parameters also include rotation control parameters for the intelligent acquisition device.

[0030] As an optional implementation, in the first aspect of the invention, determining the actual maximum rotatable angle of the target sensor includes:

[0031] The rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device are obtained. The rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device both include the maximum rotatable angle and the rotatable direction.

[0032] Based on the rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device, the actual maximum rotatable angle of the target sensor is determined.

[0033] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0034] Calculate the angle difference between the actual maximum rotatable angle and the angle corresponding to the uncovered area;

[0035] Calculate the distance between the current position of the intelligent acquisition device and the position of the farthest acquisition point in the uncovered area, and determine the target distance that the intelligent acquisition device needs to move to acquire open-pit mine data in the area corresponding to the angle difference, based on the predetermined range of change in the data acquisition area of ​​the target sensor when moving a unit distance;

[0036] The step of generating movement control parameters for the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, road surface data of the area the intelligent data acquisition device needs to advance, and the influence of each sensor includes:

[0037] Based on the area that the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to advance, the impact of each sensor, and the target distance that the intelligent data acquisition device needs to move, the movement control parameters of the intelligent data acquisition device are generated.

[0038] A second aspect of the present invention discloses an apparatus for automatically collecting data from open-pit mines, the apparatus comprising:

[0039] The determination module is used to determine the target area to be collected and the terrain data of the target area based on the collection request when a collection request for open-pit mine data is detected.

[0040] The acquisition module is used to acquire the current position of each sensor among all sensors on the intelligent acquisition device and the current data acquisition direction of each sensor;

[0041] The determining module is further configured to determine, based on the current position of each sensor, the data acquisition area of ​​that sensor along its current data acquisition direction for the target area;

[0042] The calculation module is used to calculate the total data acquisition area corresponding to all the sensors based on the data acquisition area corresponding to each sensor.

[0043] The judgment module is used to determine whether the total data collection area covers the target area;

[0044] A generation module is used to generate control parameters for the intelligent acquisition device based on the terrain data of the target area, the current positions of all the sensors, and the current data acquisition directions of all the sensors when the judgment result of the judgment module is yes. The control parameters of the intelligent acquisition device include the data acquisition control parameters of the intelligent acquisition device.

[0045] The control module is used to control the intelligent acquisition device to perform the operation of acquiring open-pit mine data of the target area according to the control parameters generated by the intelligent acquisition device.

[0046] As an optional implementation, in a second aspect of the invention, the apparatus further includes:

[0047] The analysis module is used to analyze the total data collection area and the target area when the judgment module determines that the result is negative, and to obtain the uncovered area in the target area.

[0048] The determining module is further configured to determine the area that the intelligent acquisition device needs to advance in based on the current position of the intelligent acquisition device and the uncovered area;

[0049] The data acquisition module is used to collect road surface data of the area that the intelligent data acquisition device needs to advance. The road surface data includes one or more of the following: road surface pothole data, road surface humidity, road surface slope, road surface roughness, and road surface smoothness.

[0050] The analysis module is also used to analyze the bumpiness of the intelligent acquisition device as it moves towards the area it needs to advance, based on the road surface data of the area the intelligent acquisition device needs to advance.

[0051] The judgment module is also used to determine whether the bumps during the movement of the intelligent acquisition device will affect the acquisition of open-pit mine data by each of the sensors.

[0052] The generation module is used to generate movement control parameters for the intelligent acquisition device based on the area the intelligent acquisition device needs to advance, the current position of the intelligent acquisition device, and the road surface data of the area the intelligent acquisition device needs to advance, when the judgment module determines that the result is negative. The movement control parameters of the intelligent acquisition device are used to control the intelligent acquisition device to move and collect open-pit mine data in the target area.

[0053] As an optional implementation, in a second aspect of the invention, the apparatus further includes:

[0054] The estimation module is used to estimate the impact of the bumps on the open-pit mine data collected by each of the sensors when the judgment module determines that the bumps will affect the data collected by each of the sensors during the movement of the intelligent acquisition device. The impact on each sensor includes one or more of the following: the integrity of the open-pit mine data collected by each sensor, noise, and stability. The integrity of the open-pit mine data collected by each sensor is used to indicate the amount of data and / or the completeness of the data types collected by the sensor. The stability of the open-pit mine data collected by each sensor is used to indicate the ability of the sensor to collect open-pit mine data per unit time.

[0055] Specifically, the generation module generates the movement control parameters of the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, and the road surface data of the area the intelligent data acquisition device needs to advance.

[0056] Based on the area that the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to advance, and the influence of each sensor, the movement control parameters of the intelligent data acquisition device are generated. The movement control parameters of the intelligent data acquisition device include movement speed control parameters and movement direction control parameters.

[0057] As an optional implementation, in a second aspect of the invention, the determining module is further configured to determine, from all the sensors, the target sensor whose current data acquisition direction is closest to the uncovered area, based on the current data acquisition direction of each sensor.

[0058] The determining module is further configured to determine, based on the data acquisition area of ​​the target sensor and the uncovered area, the acquisition point in the uncovered area that is farthest from the data acquisition area of ​​the target sensor;

[0059] The calculation module is further configured to calculate the target direction formed by the current position of the target sensor pointing to the position of the farthest collection point in the uncovered area, based on the position of the farthest collection point in the uncovered area and the current position of the target sensor.

[0060] The calculation module is also used to calculate the angle between the data acquisition direction of the target sensor and the target direction;

[0061] The determining module is also used to determine the actual maximum rotatable angle of the target sensor;

[0062] The judgment module is also used to determine whether the actual maximum rotatable angle is greater than or equal to the included angle corresponding to the uncovered area; when the judgment result is negative, the determination module is triggered to perform the operation of determining the area that the intelligent acquisition device needs to advance based on the current position of the intelligent acquisition device and the uncovered area.

[0063] As an optional implementation, in a second aspect of the invention, the apparatus further includes:

[0064] A module is established to establish a correspondence between the uncovered area, the current data acquisition direction of the target sensor, and the included angle size corresponding to the uncovered area when the judgment module determines that the actual maximum rotatable angle is greater than or equal to the included angle size corresponding to the uncovered area.

[0065] The generation module generates control parameters for the intelligent data acquisition device based on terrain data of the target area, the current positions of all sensors, the current data acquisition directions of all sensors, and the uncovered areas. Specifically, this includes:

[0066] Based on the terrain data of the target area, the current positions of all the sensors, the current data acquisition directions of all the sensors, the uncovered areas and their corresponding relationships, control parameters for the intelligent acquisition device are generated. The control parameters also include rotation control parameters for the intelligent acquisition device.

[0067] As an optional implementation, in a second aspect of the invention, the determining module determines the actual maximum rotatable angle of the target sensor in a manner that specifically includes:

[0068] The rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device are obtained. The rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device both include the maximum rotatable angle and the rotatable direction.

[0069] Based on the rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device, the actual maximum rotatable angle of the target sensor is determined.

[0070] As an optional implementation, in a second aspect of the invention, the calculation module is further configured to calculate the angle difference between the actual maximum rotatable angle and the angle corresponding to the uncovered area;

[0071] The calculation module is also used to calculate the distance between the current position of the intelligent acquisition device and the position of the farthest acquisition point in the uncovered area;

[0072] The determining module is also used to determine the target distance that the intelligent acquisition device needs to move to acquire open-pit mine data in the area corresponding to the angle difference collected by the target sensor, based on the change range of the data acquisition area of ​​the target sensor when moving a unit distance in advance;

[0073] Specifically, the generation module generates the movement control parameters of the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area the intelligent data acquisition device needs to advance, and the influence of each sensor.

[0074] Based on the area that the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to advance, the impact of each sensor, and the target distance that the intelligent data acquisition device needs to move, the movement control parameters of the intelligent data acquisition device are generated.

[0075] A third aspect of the present invention discloses another device for automatically collecting open-pit mine data, the device comprising:

[0076] Memory containing executable program code;

[0077] A processor coupled to the memory;

[0078] The processor calls the executable program code stored in the memory to execute some or all of the steps in any of the methods for automatically collecting open-pit mine data disclosed in the first aspect of the present invention.

[0079] The fourth aspect of the present invention discloses an intelligent data acquisition device, which is used to perform some or all of the steps in any of the methods for automatically acquiring open-pit mine data disclosed in the first aspect of the present invention.

[0080] The fifth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in any of the methods for automatically collecting open-pit mine data disclosed in the first aspect of the present invention.

[0081] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0082] In this embodiment of the invention, when a request to collect open-pit mine data is detected, the target area to be collected and its terrain data are determined according to the request. The current position and current data collection direction of each sensor on the intelligent acquisition device are obtained. Based on the current position of each sensor, the data collection area of ​​that sensor along its current data collection direction for the target area is determined. Based on the data collection area corresponding to each sensor, the total data collection area corresponding to all sensors is calculated, and it is determined whether the total data collection area covers the target area. If the determination result is yes, control parameters for the intelligent acquisition device are generated based on the terrain data of the target area, the current positions of all sensors, and the current data collection directions of all sensors. The control parameters of the intelligent acquisition device include data collection control parameters. Based on the generated control parameters, the intelligent acquisition device is controlled to perform the operation of collecting open-pit mine data from the target area. As can be seen, this invention automatically calculates the total data acquisition area of ​​the intelligent acquisition device by using the current data acquisition direction of each sensor on the intelligent acquisition device. When it is determined that the total data acquisition area can cover the mining area to be acquired, the invention directly generates the data acquisition control parameters of the intelligent acquisition device based on the data acquisition direction of all sensors, the current position of the sensors, and the terrain data of the mining area to be acquired. This improves the accuracy of the generation of the data acquisition control parameters of the intelligent acquisition device, thereby improving the accuracy and efficiency of open-pit mine data acquisition in the mining area to be acquired, and thus contributing to improving the mining efficiency and accuracy of ore in the mining area to be acquired. Attached Figure Description

[0083] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0084] Figure 1This is a flowchart illustrating a method for automatically collecting open-pit mine data according to an embodiment of the present invention;

[0085] Figure 2 This is a flowchart illustrating another method for automatically collecting open-pit mine data disclosed in an embodiment of the present invention;

[0086] Figure 3 This is a schematic diagram of the structure of an automatic open-pit mine data acquisition device disclosed in an embodiment of the present invention;

[0087] Figure 4 This is a schematic diagram of another device for automatically collecting open-pit mine data disclosed in an embodiment of the present invention;

[0088] Figure 5 This is a schematic diagram of the structure of another device for automatically collecting open-pit mine data disclosed in an embodiment of the present invention;

[0089] Figure 6 This is a schematic diagram of the structure of an intelligent data acquisition device disclosed in an embodiment of the present invention. Detailed Implementation

[0090] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0091] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0092] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0093] This invention discloses a method, apparatus, and intelligent acquisition device for automatically acquiring open-pit mine data. It can automatically calculate the total data acquisition area of ​​the intelligent acquisition device based on the current data acquisition direction of each sensor. When it determines that the total data acquisition area can cover the required mining area, it directly generates data acquisition control parameters for the intelligent acquisition device based on the data acquisition directions and current positions of all sensors, as well as the terrain data of the required mining area. This improves the accuracy of the generated data acquisition control parameters, thereby increasing the accuracy and efficiency of open-pit mine data acquisition in the required mining area, and ultimately improving the efficiency and accuracy of ore mining in the required mining area. Detailed descriptions follow.

[0094] Example 1

[0095] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for automatically collecting open-pit mine data according to an embodiment of the present invention. Figure 1 The described method can be applied to devices with intelligent data acquisition capabilities in open-pit mine operations. These devices may include intelligent data acquisition equipment (such as intelligent vehicles) and a central control server for controlling the intelligent data acquisition equipment. The central control server may include a cloud server or a field server. Figure 1 As shown, the method for automatically collecting open-pit mine data may include the following operations:

[0096] 101. When a data collection request for open-pit mine data is detected, determine the target area to be collected and the terrain data of the target area based on the collection request.

[0097] 102. Obtain the current position and current data acquisition direction of each sensor among all sensors on the intelligent acquisition device, and determine the data acquisition area of ​​the sensor for the target area along the current data acquisition direction of the sensor based on the current position of each sensor.

[0098] In this embodiment of the invention, the intelligent data acquisition device is equipped with multiple sensors, and all sensor types include one or more of radar sensors, image sensors, laser sensors, and infrared sensors. Furthermore, it also includes distance sensors and / or temperature sensors. Each sensor has a different position; the current position of each sensor can be understood as either a first position or a second position. The first position is the position relative to the plane where the center of the intelligent data acquisition device is located, and the second position is the position relative to the plane where the ground is located. It should be noted that when using the current position of a sensor subsequently, all sensor current positions correspond to the same plane.

[0099] 103. Based on the data acquisition area corresponding to each sensor, calculate the total data acquisition area corresponding to all sensors, and determine whether the total data acquisition area covers the target area.

[0100] 104. When the judgment result is yes, the control parameters of the intelligent acquisition device are generated based on the terrain data of the target area, the current position of all sensors, and the current data acquisition direction of all sensors. The control parameters of the intelligent acquisition device include the data acquisition control parameters of the intelligent acquisition device.

[0101] In this embodiment of the invention, the data acquisition control parameters of the intelligent acquisition device include sensor signal transmission direction control parameters (i.e., data acquisition direction) and sensor signal transmission intensity control parameters. Optionally, it may also include sensor signal transmission frequency control parameters.

[0102] 105. Based on the generated control parameters of the intelligent acquisition device, control the intelligent acquisition device to perform the operation of acquiring open-pit mine data of the target area.

[0103] Each sensor can collect open-pit mine data for a specific area. The open-pit mine data collected by each sensor for its data collection area includes ore data and rock data. Ore data includes one or more of the following: ore type, ore size, and ore location. Rock data includes one or more of the following: rock material, rock texture, and rock flatness. Furthermore, it may also include rock fracture data, which includes one or more of the following: fracture direction, fracture length, and fracture width.

[0104] It is evident that implementation Figure 1 The described method for automatically collecting open-pit mine data can automatically calculate the total data collection area of ​​the intelligent acquisition device by using the current data collection direction of each sensor on the intelligent acquisition device. When it is determined that the total data collection area can cover the mining area to be collected, the intelligent acquisition device directly generates data collection control parameters based on the data collection direction of all sensors, the current position of the sensors, and the terrain data of the mining area to be collected. This can improve the accuracy of the generation of data collection control parameters of the intelligent acquisition device, thereby improving the accuracy and efficiency of open-pit mine data collection in the mining area to be collected, which in turn helps to improve the efficiency and accuracy of ore mining in the mining area to be collected.

[0105] Example 2

[0106] Please see Figure 2 , Figure 2 This is a flowchart illustrating another method for automatically collecting open-pit mine data disclosed in an embodiment of the present invention. Figure 2The described method can be applied to devices with intelligent data acquisition functions in open-pit mine operations. These devices may include intelligent data acquisition equipment and a central control server for controlling the intelligent data acquisition equipment. The central control server may include a cloud server or a field server.

[0107] like Figure 2 As shown, the method for automatically collecting open-pit mine data may include the following operations:

[0108] 201. When a data collection request for open-pit mine data is detected, the target area to be collected and the terrain data of the target area are determined according to the data collection request.

[0109] 202. Obtain the current position and current data acquisition direction of each sensor among all sensors on the intelligent acquisition device, and determine the data acquisition area of ​​the sensor for the target area along the current data acquisition direction of the sensor based on the current position of each sensor.

[0110] 203. Based on the data acquisition area corresponding to each sensor, calculate the total data acquisition area corresponding to all sensors, and determine whether the total data acquisition area covers the target area. If the determination result is yes, trigger step 204; if the determination result is no, trigger step 206.

[0111] 204. Based on the terrain data of the target area, the current position of all sensors, and the current data acquisition direction of all sensors, generate the control parameters of the intelligent acquisition device. The control parameters of the intelligent acquisition device include the data acquisition control parameters of the intelligent acquisition device.

[0112] 205. Based on the generated control parameters of the intelligent acquisition device, control the intelligent acquisition device to perform the operation of acquiring open-pit mine data of the target area.

[0113] 206. Analyze the total data collection area and the target area to obtain the uncovered areas in the target area. Based on the current location of the intelligent collection device and the uncovered areas, determine the area that the intelligent collection device needs to advance to, and collect the road surface data of the area that the intelligent collection device needs to advance to.

[0114] In this embodiment of the invention, the road surface data includes, but is not limited to, one or more of the following: road surface pothole data, road surface humidity, road surface slope, road surface roughness, and road surface smoothness.

[0115] 207. Based on the road surface data of the area that the intelligent acquisition equipment needs to move to, analyze the bumpiness of the intelligent acquisition equipment as it moves to the area that it needs to move to, and determine whether the bumpiness will affect the acquisition of open-pit mine data by each of the sensors during the movement of the intelligent acquisition equipment.

[0116] 208. When the judgment result is negative, the intelligent acquisition device is given movement control parameters based on the area to be moved by the intelligent acquisition device, the current position of the intelligent acquisition device, and the road surface data of the area to be moved by the intelligent acquisition device. The movement control parameters of the intelligent acquisition device are used to control the intelligent acquisition device to move and collect open-pit mine data in the target area.

[0117] It should be noted that for other descriptions of steps 201-205, please refer to the detailed description of other related content of steps 101-105 in Embodiment 1. The embodiments of the present invention will not repeat them.

[0118] It is evident that implementation Figure 2 The described method for automatically collecting open-pit mine data automatically calculates the total data collection area of ​​the intelligent acquisition device based on the current data collection direction of each sensor. When it is determined that the total data collection area can cover the required mining area, the method directly generates data collection control parameters for the intelligent acquisition device based on the data collection directions of all sensors, their current positions, and the terrain data of the required mining area. This improves the accuracy of the generated data collection control parameters, thereby increasing the accuracy and efficiency of open-pit mine data collection in the required mining area, and ultimately improving the efficiency and accuracy of ore mining. Furthermore, when it is determined that the total data collection area corresponding to all sensors cannot cover the mining area, the method automatically determines the area the intelligent acquisition device needs to move to based on the uncovered area and the current position of the intelligent acquisition device. It also automatically determines whether the ground surface disturbance in the required area will affect the sensor's data collection. If so, it automatically generates movement control parameters for the intelligent acquisition device based on the area the device needs to move to, its current position, and the road surface data of the required area, thus collecting open-pit mine data in the required mining area. This method further improves the efficiency of open-pit mine data collection while ensuring accurate data acquisition.

[0119] In an optional embodiment, the method may further include the following steps:

[0120] When it is determined that during the movement of the intelligent data acquisition equipment, the impact of bumps on the data collected by each sensor in the open-pit mine is estimated. The impact of bumps on the data collected by each sensor includes one or more of the following: the integrity of the data collected by each sensor, noise, and stability. The integrity of the data collected by each sensor is used to indicate the amount of data collected by the sensor and / or the completeness of the data types. The stability of the data collected by each sensor is used to indicate the ability of the sensor to collect data in the open-pit mine per unit time.

[0121] Specifically, based on the area the intelligent data acquisition device needs to advance, the device's current location, and road surface data for that area, movement control parameters for the intelligent data acquisition device are generated, including:

[0122] Based on the area the intelligent data acquisition device needs to advance, the current location of the intelligent data acquisition device, the road surface data of the area the intelligent data acquisition device needs to advance, and the influence of each sensor, the movement control parameters of the intelligent data acquisition device are generated. The movement control parameters of the intelligent data acquisition device include movement speed control parameters and movement direction control parameters.

[0123] As can be seen, when this optional embodiment determines that the vibration of the intelligent acquisition device during operation will affect the sensor data, it can automatically analyze the impact and combine this impact with the ground data of the current position and direction of movement of the intelligent acquisition device to generate motion control parameters. This can further improve the accuracy of motion control data generation, thereby reducing the occurrence of adverse effects on data due to vibration, and thus improving the accuracy of open-pit mine data acquisition.

[0124] In another alternative embodiment, the method may further include the following steps:

[0125] Based on the current data acquisition direction of each sensor, determine the target sensor whose current data acquisition direction is closest to the uncovered area from all sensors;

[0126] Based on the data acquisition area of ​​the target sensor and the uncovered area, determine the acquisition point in the uncovered area that is farthest from the data acquisition area of ​​the target sensor;

[0127] Based on the location of the farthest acquisition point in the uncovered area and the current location of the target sensor, calculate the target direction formed by the current location of the target sensor pointing to the location of the farthest acquisition point in the uncovered area.

[0128] Calculate the angle between the data acquisition direction of the target sensor and the target direction, determine the actual maximum rotatable angle of the target sensor, and determine whether the actual maximum rotatable angle is greater than or equal to the angle corresponding to the uncovered area;

[0129] If the judgment result is negative, perform the above-mentioned operation of determining the area that the intelligent acquisition device needs to advance to based on the current position of the intelligent acquisition device and the uncovered area.

[0130] In this optional embodiment, determining the actual maximum rotatable angle of the target sensor may include:

[0131] The rotation parameters of the target sensor and the intelligent acquisition device are obtained. The rotation parameters of the target sensor and the intelligent acquisition device include the maximum rotatable angle and the rotatable direction.

[0132] Based on the rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device, the actual maximum rotatable angle of the target sensor is determined.

[0133] As can be seen, this optional embodiment improves the accuracy of the operation by querying the sensor closest to the uncovered area among all sensors, and then determining the area to be visited by the intelligent acquisition device based on the angle formed by the position of the farthest acquisition point in the uncovered area from the sensor's data acquisition area and the sensor's current position, and the angle formed by the sensor's data acquisition direction. This is done only when the sensor's actual maximum rotatable angle is smaller than this angle.

[0134] In yet another optional embodiment, the method may further include the following steps:

[0135] When it is determined that the actual maximum rotatable angle is greater than or equal to the included angle corresponding to the uncovered area, a correspondence is established between the uncovered area, the current data acquisition direction of the target sensor, and the included angle corresponding to the uncovered area.

[0136] Specifically, based on the terrain data of the target area, the current positions of all sensors, the current data acquisition directions of all sensors, and the uncovered areas, control parameters for the intelligent data acquisition device are generated, including:

[0137] Based on the terrain data of the target area, the current positions of all sensors, the current data acquisition direction of all sensors, the uncovered areas and their corresponding relationships, control parameters for the intelligent acquisition device are generated. The control parameters also include the rotation control parameters for the intelligent acquisition device.

[0138] In this optional embodiment, the rotation control parameters of the intelligent acquisition device include azimuth rotation control parameters and / or speed rotation control parameters, wherein the azimuth rotation control parameters include left-right rotation control parameters and / or up-down rotation control parameters.

[0139] As can be seen, when this optional embodiment determines that the actual maximum rotatable angle of the sensor is large, it directly generates rotation control parameters for the intelligent acquisition device by combining the correspondence between the uncovered area, the current data acquisition direction of the sensor and the corresponding included angle, the terrain data of the entire mining area, the current position of all sensors, and the current data acquisition direction. This allows the intelligent acquisition device to complete the acquisition of open-pit mine data in the mining area by rotating the sensor in place. It enables precise control of the sensors that need to be controlled, which can reduce the occurrence of inaccurate data acquisition due to bumps during the movement process, and eliminates the need to spend extra time on data acquisition, thereby improving the efficiency of open-pit mine data acquisition.

[0140] In yet another optional embodiment, the method may further include the following steps:

[0141] Calculate the angle difference between the actual maximum rotatable angle and the angle corresponding to the uncovered area;

[0142] Calculate the distance between the current position of the intelligent acquisition device and the position of the farthest acquisition point in the uncovered area, and determine the target distance that the intelligent acquisition device for open-pit mine data needs to move to the area corresponding to the angle difference acquired by the target sensor based on the predetermined range of change in the data acquisition area of ​​the target sensor when moving a unit distance.

[0143] Specifically, based on the area the intelligent data acquisition device needs to advance, the device's current location, road surface data for that area, and the influence of each sensor, movement control parameters for the intelligent data acquisition device are generated, including:

[0144] Based on the area that the intelligent data acquisition device needs to move forward, the current location of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to move forward, the impact of each sensor, and the target distance that the intelligent data acquisition device needs to move, the movement control parameters of the intelligent data acquisition device are generated.

[0145] As can be seen, this optional embodiment, by including the minimum distance required for the open-pit mine data to be moved in the area corresponding to the angle difference between the actual maximum rotatable angle collected by the sensor and the angle corresponding to the uncovered area in the generation of the movement control parameters of the intelligent acquisition device, can further improve the accuracy of the generation of movement control parameters. This is beneficial for the intelligent device to move to the minimum distance to collect open-pit mine data of the entire mining area through multiple sensors, thereby further improving the data acquisition efficiency.

[0146] Example 3

[0147] Please see Figure 3 , Figure 3This is a schematic diagram of the structure of an automatic open-pit mine data acquisition device disclosed in an embodiment of the present invention. Figure 3 The described device is an intelligent data acquisition device used in open-pit mine operations. This device may include intelligent data acquisition equipment and a central control server for controlling the intelligent data acquisition equipment. The central control server may include a cloud server or a field server, and as such... Figure 3 As shown, the device includes:

[0148] The determination module 301 is used to determine the target area to be collected and the terrain data of the target area according to the collection request when a collection request for open-pit mine data is detected.

[0149] The acquisition module 302 is used to acquire the current position of each sensor among all sensors on the intelligent acquisition device and the current data acquisition direction of each sensor;

[0150] The determining module 301 is also used to determine the data acquisition area of ​​the sensor for the target area along the current data acquisition direction of the sensor, based on the current position of each sensor;

[0151] The calculation module 303 is used to calculate the total data acquisition area corresponding to all sensors based on the data acquisition area corresponding to each sensor.

[0152] The judgment module 304 is used to determine whether the total data collection area covers the target area;

[0153] The generation module 305 is used to generate control parameters for the intelligent acquisition device based on the terrain data of the target area, the current position of all sensors, and the current data acquisition direction of all sensors when the judgment result of the judgment module 304 is yes. The control parameters of the intelligent acquisition device include the data acquisition control parameters of the intelligent acquisition device.

[0154] The control module 306 is used to control the intelligent acquisition device to perform the operation of acquiring open-pit mine data of the target area according to the control parameters of the generated intelligent acquisition device.

[0155] Each sensor can collect open-pit mine data for a specific area. The open-pit mine data collected by each sensor for its data collection area includes ore data and rock data. Ore data includes one or more of the following: ore type, ore size, and ore location. Rock data includes one or more of the following: rock material, rock texture, and rock flatness. Furthermore, it may also include rock fracture data, which includes one or more of the following: fracture direction, fracture length, and fracture width.

[0156] It is evident that implementation Figure 3The described automatic open-pit mine data acquisition device can automatically calculate the total data acquisition area of ​​the intelligent acquisition device by using the current data acquisition direction of each sensor on the intelligent acquisition device. When it is determined that the total data acquisition area can cover the mining area to be acquired, the device directly generates data acquisition control parameters for the intelligent acquisition device based on the data acquisition direction of all sensors, the current position of the sensors, and the terrain data of the mining area. This improves the accuracy of the data acquisition control parameters generated by the intelligent acquisition device, thereby improving the accuracy and efficiency of open-pit mine data acquisition in the mining area, and ultimately contributing to improving the efficiency and accuracy of ore mining in the mining area.

[0157] In an optional embodiment, such as Figure 4 As shown, the device may further include:

[0158] Analysis module 307 is used to analyze the total data acquisition area and the target area when the judgment result of judgment module 304 is negative, and to obtain the uncovered area in the target area.

[0159] The determining module 301 is also used to determine the area that the intelligent acquisition device needs to advance based on the current position of the intelligent acquisition device and the uncovered area;

[0160] The acquisition module 308 is used to acquire road surface data of the area that the intelligent acquisition device needs to advance. The road surface data includes, but is not limited to, one or more of the following: road surface pothole data, road surface humidity, road surface slope, road surface roughness, and road surface smoothness.

[0161] The analysis module 307 is also used to analyze the bumpiness of the intelligent acquisition device as it moves towards the area it needs to advance, based on the road surface data of the area the intelligent acquisition device needs to advance.

[0162] The judgment module 304 is also used to determine whether the bumps during the movement of the intelligent acquisition device will affect the acquisition of open-pit mine data by each of the sensors.

[0163] The generation module 305 is used to generate movement control parameters for the intelligent acquisition device based on the area that the intelligent acquisition device needs to advance, the current position of the intelligent acquisition device, and the road surface data of the area that the intelligent acquisition device needs to advance, when the judgment result of the judgment module 304 is negative. The movement control parameters of the intelligent acquisition device are used to control the movement of the intelligent acquisition device to collect open-pit mine data in the target area.

[0164] It is evident that implementation Figure 4The described automatic open-pit mine data acquisition device can automatically determine the area to which the intelligent acquisition device needs to go when it is determined that the total data acquisition area corresponding to all sensors cannot cover the mining area. Based on the uncovered area and the current location of the intelligent acquisition device, it can automatically determine whether the ground bumps in the area to be traveled will affect the sensor's acquisition of open-pit mine data. If so, it can automatically generate the intelligent acquisition device's movement control parameters based on the area to be traveled, the current location of the intelligent acquisition device, and the road surface data of the area to be traveled, and collect the open-pit mine data of the required mining area. This can further improve the acquisition efficiency of open-pit mine data while ensuring accurate acquisition.

[0165] In yet another alternative embodiment, such as Figure 4 As shown, the device also includes:

[0166] The estimation module 309 is used to estimate the impact of bumps on the open-pit mine data collected by each sensor when the judgment module 304 determines that bumps will affect the data collected by each sensor during the movement of the intelligent acquisition device. The impact on each sensor includes one or more of the following: the integrity of the open-pit mine data collected by each sensor, noise, and stability. The integrity of the open-pit mine data collected by each sensor is used to indicate the amount of data and / or the completeness of the data types collected by the sensor. The stability of the open-pit mine data collected by each sensor is used to indicate the ability of the sensor to collect open-pit mine data per unit time.

[0167] Specifically, the generation module 305 generates the movement control parameters of the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, and the road surface data of the area the intelligent data acquisition device needs to advance.

[0168] Based on the area the intelligent data acquisition device needs to advance, the current location of the intelligent data acquisition device, the road surface data of the area the intelligent data acquisition device needs to advance, and the influence of each sensor, the movement control parameters of the intelligent data acquisition device are generated. The movement control parameters of the intelligent data acquisition device include movement speed control parameters and movement direction control parameters.

[0169] It is evident that implementation Figure 4The described automatic open-pit mine data acquisition device can also automatically analyze the impact of vibrations during the intelligent acquisition process on the sensor data acquisition when it is determined that the vibrations will affect the data. By combining this impact with the ground data of the current position and direction of movement of the intelligent acquisition device, motion control parameters can be generated. This can further improve the accuracy of motion control data generation, thereby reducing the occurrence of adverse effects on data due to vibrations, and thus improving the accuracy of open-pit mine data acquisition.

[0170] In yet another alternative embodiment, such as Figure 4 As shown, the determining module 301 is also used to determine, from all sensors, the target sensor whose current data acquisition direction is closest to the uncovered area, based on the current data acquisition direction of each sensor.

[0171] The determining module 301 is also used to determine the acquisition point in the uncovered area that is farthest from the data acquisition area of ​​the target sensor, based on the data acquisition area of ​​the target sensor and the uncovered area.

[0172] The calculation module 303 is also used to calculate the target direction formed by the current position of the target sensor pointing to the position of the farthest collection point in the uncovered area, based on the position of the farthest collection point in the uncovered area and the current position of the target sensor.

[0173] The calculation module 303 is also used to calculate the angle between the data acquisition direction of the target sensor and the target direction;

[0174] The determining module 301 is also used to determine the actual maximum rotatable angle of the target sensor;

[0175] The judgment module 304 is also used to determine whether the actual maximum rotatable angle is greater than or equal to the included angle corresponding to the uncovered area; when the judgment result is negative, the determination module 301 is triggered to perform the above-mentioned operation of determining the area that the intelligent acquisition device needs to advance based on the current position of the intelligent acquisition device and the uncovered area.

[0176] In this optional embodiment, the method by which the determining module 301 determines the actual maximum rotatable angle of the target sensor specifically includes:

[0177] The rotation parameters of the target sensor and the intelligent acquisition device are obtained. The rotation parameters of the target sensor and the intelligent acquisition device include the maximum rotatable angle and the rotatable direction.

[0178] Based on the rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device, the actual maximum rotatable angle of the target sensor is determined.

[0179] It is evident that implementation Figure 4 The described automatic open-pit mine data acquisition device can also query the sensor closest to the uncovered area among all sensors, and determine the area to be acquired by the intelligent acquisition device only when the actual maximum rotatable angle of the sensor is smaller than the angle formed by the location of the farthest acquisition point in the uncovered area from the sensor's data acquisition area and the current position of the sensor. This improves the accuracy of the operation and the completeness of open-pit mine data acquisition for the entire mining area, thereby improving the accuracy of subsequent open-pit mine operation planning.

[0180] In yet another alternative embodiment, such as Figure 4 As shown, the device may further include:

[0181] The establishment module 310 is used to establish the correspondence between the uncovered area, the current data acquisition direction of the target sensor, and the size of the included angle corresponding to the uncovered area when the judgment module 304 determines that the actual maximum rotatable angle is greater than or equal to the included angle corresponding to the uncovered area.

[0182] Specifically, the generation module 305 generates control parameters for the intelligent data acquisition device based on the terrain data of the target area, the current positions of all sensors, the current data acquisition directions of all sensors, and the uncovered areas.

[0183] Based on the terrain data of the target area, the current positions of all sensors, the current data acquisition direction of all sensors, the uncovered areas and their corresponding relationships, control parameters for the intelligent acquisition device are generated. The control parameters also include the rotation control parameters for the intelligent acquisition device.

[0184] It is evident that implementation Figure 4 The described automatic open-pit mine data acquisition device can also, when it is determined that the actual maximum rotatable angle of the sensor is large, directly generate rotation control parameters for the intelligent acquisition device by combining the correspondence between the uncovered area, the current data acquisition direction of the sensor and the corresponding included angle, the terrain data of the entire mining area, the current position of all sensors, and the current data acquisition direction. This allows the intelligent acquisition device to complete the acquisition of open-pit mine data in the mining area by rotating the sensor in place. It can accurately control the sensors that need to be controlled, which can reduce the occurrence of inaccurate data acquisition due to bumps during the movement process, and eliminate the need to spend extra time on data acquisition, thereby improving the efficiency of open-pit mine data acquisition.

[0185] In yet another alternative embodiment, such as Figure 4As shown, the calculation module 303 is also used to calculate the angle difference between the actual maximum rotatable angle and the angle corresponding to the uncovered area;

[0186] The calculation module 303 is also used to calculate the distance between the current location of the intelligent acquisition device and the location of the farthest acquisition point in the uncovered area;

[0187] The determining module 301 is also used to determine the target distance that the open-pit mine data intelligent acquisition device needs to move to, based on the range of change of the target sensor’s data acquisition area when moving a unit distance in advance.

[0188] Specifically, the generation module 305 generates the movement control parameters of the intelligent acquisition device based on the area the intelligent acquisition device needs to advance, the current position of the intelligent acquisition device, the road surface data of the area the intelligent acquisition device needs to advance, and the influence of each sensor.

[0189] Based on the area that the intelligent data acquisition device needs to move forward, the current location of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to move forward, the impact of each sensor, and the target distance that the intelligent data acquisition device needs to move, the movement control parameters of the intelligent data acquisition device are generated.

[0190] It is evident that implementation Figure 4 The described automatic open-pit mine data acquisition device can also generate movement control parameters for the intelligent acquisition device by taking the minimum distance required to move the open-pit mine data in the area corresponding to the angle difference between the actual maximum rotatable angle collected by the sensor and the angle corresponding to the uncovered area. This can further improve the accuracy of the movement control parameters, thereby enabling the intelligent device to collect open-pit mine data of the entire mining area through multiple sensors by moving to the minimum distance, and further improving the data acquisition efficiency.

[0191] Example 5

[0192] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of another device for automatically collecting open-pit mine data, as disclosed in an embodiment of the present invention. Figure 5 The described device can be used in open-pit mine operations as a device with intelligent data acquisition capabilities. This device may include intelligent data acquisition equipment and a central control server for controlling the intelligent data acquisition equipment. The central control server may include a cloud server or a field server. Figure 5 As shown, the device may include:

[0193] Memory 401 storing executable program code;

[0194] Processor 402 coupled to memory 401;

[0195] Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402;

[0196] The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps of the method for automatically collecting open-pit mine data disclosed in Embodiment 1 or Embodiment 2 of the present invention.

[0197] Example 6

[0198] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of an intelligent data acquisition device disclosed in an embodiment of the present invention. The intelligent monitoring device includes any of the devices for automatically acquiring open-pit mine data as in Embodiment 3, and is used to perform some or all of the steps of the method for automatically acquiring open-pit mine data disclosed in Embodiment 1 or Embodiment 2 of the present invention.

[0199] Example 7

[0200] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in a method for automatically collecting open-pit mine data disclosed in Embodiment 1 or Embodiment 2 of this invention.

[0201] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0202] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0203] Finally, it should be noted that the method, apparatus, and intelligent acquisition device for automatically collecting open-pit mine data disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically collecting data from open-pit mines, characterized in that, The method includes: When a data collection request for open-pit mine data is detected, the target area to be collected and the terrain data of the target area are determined according to the collection request, and the current position and current data collection direction of each sensor in the intelligent collection device are obtained. Based on the current position of each sensor, determine the data acquisition area of ​​that sensor for the target area along its current data acquisition direction; Based on the data acquisition area corresponding to each sensor, calculate the total data acquisition area corresponding to all sensors, and determine whether the total data acquisition area covers the target area; When it is determined that the total data acquisition area covers the target area, control parameters for the intelligent acquisition device are generated based on the terrain data of the target area, the current positions of all sensors, and the current data acquisition directions of all sensors. These control parameters include data acquisition control parameters for the intelligent acquisition device, specifically sensor signal transmission direction control parameters and sensor signal transmission intensity control parameters. Based on the generated control parameters, the intelligent acquisition device is controlled to perform the operation of acquiring open-pit mine data from the target area. When it is determined that the total data collection area does not cover the target area, the total data collection area and the target area are analyzed to obtain the uncovered area in the target area. Based on the current location of the intelligent data acquisition device and the uncovered area, the area that the intelligent data acquisition device needs to advance is determined, and road surface data of the area that the intelligent data acquisition device needs to advance is collected. The road surface data includes one or more of the following: road surface pothole data, road surface humidity, road surface slope, road surface roughness, and road surface smoothness. Based on the road surface data of the area that the intelligent acquisition device needs to advance to, analyze the bumpiness of the intelligent acquisition device as it moves towards the area that it needs to advance to, and determine whether the bumpiness will affect the data collected by each of the sensors in the open-pit mine during the movement of the intelligent acquisition device. When it is determined that the bumpy conditions will not affect the acquisition of open-pit mine data by each of the sensors during the movement of the intelligent acquisition device, movement control parameters of the intelligent acquisition device are generated based on the area to be advanced by the intelligent acquisition device, the current position of the intelligent acquisition device, and the road surface data of the area to be advanced by the intelligent acquisition device. The movement control parameters of the intelligent acquisition device are used to control the movement of the intelligent acquisition device to acquire open-pit mine data in the target area.

2. The method for automatically collecting open-pit mine data according to claim 1, characterized in that, The method further includes: When it is determined that the bumps during the movement of the intelligent data acquisition device will affect the open-pit mine data collected by each of the sensors, the impact of the bumps on the open-pit mine data collected by each sensor is estimated. The impact on each sensor includes one or more of the following: the integrity of the open-pit mine data collected by each sensor, noise, and stability. The integrity of the open-pit mine data collected by each sensor is used to indicate the amount of data and / or the completeness of the data types collected by the sensor. The stability of the open-pit mine data collected by each sensor is used to indicate the ability of the sensor to collect open-pit mine data per unit time. The step of generating movement control parameters for the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, and road surface data of the area the intelligent data acquisition device needs to advance includes: Based on the area that the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to advance, and the influence of each sensor, the movement control parameters of the intelligent data acquisition device are generated. The movement control parameters of the intelligent data acquisition device include movement speed control parameters and movement direction control parameters.

3. The method for automatically collecting open-pit mine data according to claim 1 or 2, characterized in that, The method further includes: Based on the current data acquisition direction of each sensor, determine the target sensor whose current data acquisition direction is closest to the uncovered area from all the sensors; Based on the data acquisition area of ​​the target sensor and the uncovered area, determine the acquisition point in the uncovered area that is farthest from the data acquisition area of ​​the target sensor; Based on the location of the farthest acquisition point in the uncovered area and the current location of the target sensor, calculate the target direction formed by the current location of the target sensor pointing to the location of the farthest acquisition point in the uncovered area; Calculate the angle between the data acquisition direction of the target sensor and the target direction, determine the actual maximum rotatable angle of the target sensor, and determine whether the actual maximum rotatable angle is greater than or equal to the angle corresponding to the uncovered area; When it is determined that the actual maximum rotatable angle is less than the included angle corresponding to the uncovered area, the operation of determining the area that the intelligent acquisition device needs to advance to is performed based on the current position of the intelligent acquisition device and the uncovered area.

4. The method for automatically collecting open-pit mine data according to claim 3, characterized in that, The method further includes: When it is determined that the actual maximum rotatable angle is greater than or equal to the included angle corresponding to the uncovered area, a correspondence is established between the uncovered area, the current data acquisition direction of the target sensor, and the included angle corresponding to the uncovered area. The step of generating control parameters for the intelligent data acquisition device based on terrain data of the target area, the current positions of all sensors, the current data acquisition directions of all sensors, and the uncovered areas includes: Based on the terrain data of the target area, the current positions of all the sensors, the current data acquisition directions of all the sensors, the uncovered areas and their corresponding relationships, control parameters for the intelligent acquisition device are generated. The control parameters also include rotation control parameters for the intelligent acquisition device.

5. The method for automatically collecting open-pit mine data according to claim 4, characterized in that, Determining the actual maximum rotatable angle of the target sensor includes: The rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device are obtained. The rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device both include the maximum rotatable angle and the rotatable direction. Based on the rotation parameters of the target sensor and the rotation parameters of the intelligent acquisition device, the actual maximum rotatable angle of the target sensor is determined.

6. The method for automatically collecting open-pit mine data according to claim 4 or 5, characterized in that, The method further includes: Calculate the angle difference between the actual maximum rotatable angle and the angle corresponding to the uncovered area; Calculate the distance between the current position of the intelligent acquisition device and the position of the farthest acquisition point in the uncovered area, and determine the target distance that the intelligent acquisition device needs to move to acquire open-pit mine data in the area corresponding to the angle difference, based on the predetermined range of change in the data acquisition area of ​​the target sensor when moving a unit distance; The step of generating movement control parameters for the intelligent data acquisition device based on the area the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, road surface data of the area the intelligent data acquisition device needs to advance, and the influence of each sensor includes: Based on the area that the intelligent data acquisition device needs to advance, the current position of the intelligent data acquisition device, the road surface data of the area that the intelligent data acquisition device needs to advance, the impact of each sensor, and the target distance that the intelligent data acquisition device needs to move, the movement control parameters of the intelligent data acquisition device are generated.

7. A device for automatically collecting data from open-pit mines, characterized in that, The apparatus is used to implement the method for automatically collecting open-pit mine data as described in any one of claims 1-6, the apparatus comprising: The determination module is used to determine the target area to be collected and the terrain data of the target area based on the collection request when a collection request for open-pit mine data is detected. The acquisition module is used to acquire the current position of each sensor among all sensors on the intelligent acquisition device and the current data acquisition direction of each sensor; The determining module is further configured to determine, based on the current position of each sensor, the data acquisition area of ​​that sensor along its current data acquisition direction for the target area; The calculation module is used to calculate the total data acquisition area corresponding to all the sensors based on the data acquisition area corresponding to each sensor. The judgment module is used to determine whether the total data collection area covers the target area; A generation module is used to generate control parameters for the intelligent acquisition device based on the terrain data of the target area, the current positions of all the sensors, and the current data acquisition directions of all the sensors when the judgment module determines that the total data acquisition area covers the target area. The control parameters of the intelligent acquisition device include the data acquisition control parameters of the intelligent acquisition device. The control module is used to control the intelligent acquisition device to perform the operation of acquiring open-pit mine data of the target area according to the control parameters generated by the intelligent acquisition device.

8. A device for automatically collecting data from open-pit mines, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method for automatically collecting open-pit mine data as described in any one of claims 1-6.

9. An intelligent data acquisition device, characterized in that, The intelligent data acquisition device is used to perform the method for automatically acquiring open-pit mine data as described in any one of claims 1-6.

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