Strip mine field three-dimensional mining intelligent planning method and system and storage medium

Abstract

The invention discloses an intelligent planning method and system for three-dimensional mining of a strip mine field and a storage medium, and belongs to the field of digital intelligent mine fields. The method comprises the following steps: S1, establishing spatial measurement geological data, S2, carrying out compression conversion on a three-dimensional surface model, S3, constructing a three-dimensional model of an isomer, and S4, carrying out model integration visualization, so that centralized, rapid and convenient display of system data such as mine field production, safety, management, environmental protection and geology is realized, a data island is broken, and the data quality is improved. Information such as the overall geological structure, equipment and facilities, people, environment and safety of a mine field can be displayed more visually, and integration of a simulated three-dimensional live-action picture is completed. Compared with the traditional display, the method is more detailed and vivid, and can help managers to better understand the current situation of the mine field, thereby optimizing the production process, improving the working efficiency, effectively monitoring the environment change of the mine field, and timely finding potential safety hazards.

Description

Technical Field

[0001] The present invention relates to the field of digital intelligent mines, and more specifically, to a method, system and storage medium for intelligent planning of three-dimensional mining in open-pit mines. Background Art

[0002] With the rapid advancement of information technology, the mining industry is undergoing an unprecedented digital and intelligent transformation. As one of the key technologies in this transformation, the centralized visualization of mines in 3D has greatly improved the transparency, decision-making efficiency and emergency response capabilities of mine operations by integrating and visually presenting multi-dimensional data such as mine production, safety, management, environmental protection, and geology in a 3D model. It plays an irreplaceable role in promoting the intelligent construction of mines and achieving sustainable development.

[0003] However, in the process of realizing the centralized display of 3D visualization of mines, the problem of data islands has become the main obstacle to its full effectiveness. Specifically, the systems of mine production, safety monitoring, management system, environmental monitoring and geological exploration have accumulated a huge amount of data resources, but these data are often stored in different databases and systems, lacking unified data standards and interface specifications, making it difficult for data to be interconnected, forming data islands.

[0004] The existence of data silos makes it difficult for mine managers to quickly and conveniently obtain and integrate key data, which in turn affects the comprehensiveness, accuracy, and real-time nature of 3D visualization. Specifically, due to data fragmentation, mine managers may not be able to fully grasp the actual situation of the production site when making decisions, resulting in decision-making errors or delays; in terms of safety monitoring, since data cannot be shared in a timely manner, safety hazards may not be discovered and handled in a timely manner; in terms of environmental protection and resource management, data silos also hinder the effective implementation of environmental protection policies and the efficient use of resources. In view of this, we propose a method, system, and storage medium for intelligent planning of 3D mining in open-pit mines. Summary of the invention

[0005] The purpose of the present invention is to provide a method, system and storage medium for intelligent planning of three-dimensional mining in an open-pit mine to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for intelligent planning of three-dimensional mining in an open-pit mine, comprising the following steps:

[0008] S1 establishes spatial measurement geological data, including:

[0009] S1.1 Data collection, collecting mining geological survey data, including real-life data and basic information of the mine; the real-life data of the mine is the original image data scanned by drones and total stations, and the basic information of the mine mainly includes multiple GPS control points, basic geographical information of the mine, etc.

[0010] S1.2 Model generation: Based on the collected mining geological survey data, a three-dimensional surface model of the terrain and the current status of the mining site is generated. During the construction of the three-dimensional surface model, the coordinate correction algorithm of the model is used to repeatedly correct the coordinates of the generated three-dimensional surface model;

[0011] The coordinate correction algorithms mainly include the following three types, but are not limited to the following:

[0012] S1.2.1 Ground control point correction: By determining the position of the ground control point in the oblique photography data and obtaining its accurate world coordinates using a measuring instrument, the image coordinates of the control point are matched with the actual world coordinates through an image registration algorithm, thereby establishing a conversion relationship from image coordinates to real world coordinates and correcting the geometric coordinate deviation of the model;

[0013] S1.2.2 Point cloud registration: Common point cloud registration methods include feature matching, ICP (Iterative Closest Point) and registration based on geometric constraints. By matching and aligning point clouds from different perspectives, the consistency and correction of geometric coordinates can be achieved;

[0014] S1.2.3 Multi-source data fusion: Oblique photography data can be fused with other sensor data (such as lidar, GPS). By registering and integrating oblique photography data with other sensor data, the geometric coordinate deviation of oblique photography data can be corrected to improve the accuracy and reliability of geometric coordinates.

[0015] S2 3D surface model compression conversion, including:

[0016] S2.2 Geometry Compression: Use OpenSceneGraph tools to compress the geometry of the model to reduce complexity;

[0017] S2.3 Texture compression: Use compression algorithms or reduce the resolution of texture images to reduce the size of texture data;

[0018] S2.4 Hierarchical subdivision: decompose the three-dimensional surface model into multiple sub-models, and render and process each sub-model separately;

[0019] S3 builds a three-dimensional model of heterogeneous materials, including:

[0020] S3.1 Model construction: Build 3D models for various types of transportation equipment, personnel, and monitoring equipment in the mine. This is mainly done by making models in fbx format using professional 3DSMAX software. You can also use ContextCapture modeling software to generate an initial small model and then modify the details to finally get a 3D model of heterogeneous objects.

[0021] S3.2 Dynamic loading: Create a dynamic model loading package for heterogeneous 3D models and use dynamic mounting technology to reduce the amount of data loading;

[0022] S4 model integrated visualization includes data side and software side. The data side is used to collect, analyze, clean, filter and extract key data, and improve program operation efficiency through smart cloud platform and AI intelligent technology (AI intelligent technology here refers to the ability of cloud computing to automatically allocate computing power and cloud image recognition, such as elastic computing power, intelligent image recognition and other services); the software side is used to write multi-model interaction framework scripts in Unity Edit, import the WebGL engine, and realize data visualization and interaction functions; the visualization and interaction functions use WebGL graphics rendering technology to realize the visualization of the mine 3D surface model, the 3D model of heterogeneous materials and the data analysis results. The visualization of data analysis results also includes providing a variety of interactions and animation effects, and setting warning conditions and thresholds according to the data analysis results;

[0023] The model integrated visualization also includes an algorithm for converting WGS international Mars geographic coordinate data into three-dimensional world coordinate data. The three-dimensional world coordinate data algorithm uses the difference ratio between the WGS coordinates and the three-dimensional world coordinates of two reference points as a constant, and uses the constant to complete the conversion from WGS coordinates to three-dimensional world coordinates.

[0024] The three-dimensional world coordinate data algorithm comprises the following steps:

[0025] Assume a and b are two reference coordinate points. It is known that the international Mars geographic coordinates of a and b are a1{x1, y1, z1} and b1{x2, y2, z2}, and the three-dimensional world coordinates are a2{x3, y3, z3} and b2{x4, y4, z4}. Their difference ratios p1, p2, and p3 are as follows:

[0026] p1=x 1 -x 2 、p2=y 1 -y 2 、p3=z 1 -z 2 ;

[0027] x3-x4 y3-y4 z3-z4

[0028] If the WGS international Mars geographic coordinates of a point are known to be c{x5, y5, z5}, then the world coordinates of the point are d{x6, y6, z6}, where x6 = x5-p1×(x3-x4), y6 = y5-p2×(y3-y4), and z6 = z5-p3×(z3-z4);

[0029] That is, d{x5-p1×(x3-x4), y5-p2×(y3-y4), z5-p3×(z3-z4)};

[0030] Preferably, the model integrated visualization also includes a vertical ray collision body detection algorithm for realizing the ground-hugging motion of a moving object on a terrain model. The specific steps include adding a collision body, creating rays, emitting rays and performing layer filtering.

[0031] Preferably, the vertical ray collision body detection algorithm comprises the following steps:

[0032] Add collision body: Use scripts to add object collider properties to the mobile elements such as people, cars, and three-dimensional geological models of mines to implement rigid collision body property settings.

[0033] Create a ray: Use the created Ray class or RaycastHit structure to create a ray; Ray represents the starting point and direction of the ray, and RaycastHit is used to store the information of the intersection between the ray and the object, such as the intersection point, normal, etc. Ray uses the world coordinate Y-axis direction, and the starting point uses a height of 4000m;

[0034] Emit rays: Use the Physics.Raycast function to emit rays and check whether the rays intersect with the surface of the mine geological model. The function returns a Boolean value indicating whether the ray hits the object;

[0035] Layer filtering: Use the layerMask parameter to limit the ray to collision detection only with objects in a specific layer. We use the Ground layer as the collision detection layer.

[0036] Preferably, the model integrated visualization also includes a large model dynamic visible range tile loading algorithm, which quickly loads large amounts of model data through visible range parameters and automatic unloading of non-visible area tiles, and performs parallel asynchronous transmission and cache processing of model tile data.

[0037] Preferably, the large model dynamic visible range fragment loading algorithm includes the following steps:

[0038] Firstly, the visual range of the visual device is obtained, including the visual angle, angle and distance, and the constant parameter setting of the best visual is imported;

[0039] Using the characteristics of the split tiles of the 3MX format model to autonomously control loading and unloading, the model tiles in the visible area of ​​the device are loaded, and the model tiles in the non-visible area are unloaded;

[0040] Perform parallel asynchronous transmission of model tile data to improve the loading speed of large 3D base map models;

[0041] Add the logic of caching model tile data, use the web browser to improve the cache capacity, store the loaded model tile data, and improve the secondary loading speed.

[0042] Preferably, it also includes the implementation method of multi-source data cleaning and fast query capabilities, specifically including storing different types of real-time data in separate tables and databases, creating a redis cache database to store frequently accessed alarm data, cleaning big data before warehousing and establishing multiple data warehouses, and setting up scheduled database execution tasks to pre-process and screen data with lower real-time requirements.

[0043] Preferably, the implementation of multi-source data cleaning and fast query capabilities includes the following steps:

[0044] Different types of data are stored in separate tables and databases, and the parallel query capability of program SQL is improved by using multi-source databases;

[0045] Create a redis cache database to store the alarm data frequently accessed by the security ADS to speed up the data reading rate;

[0046] Clean the relatively large amount of big data before storage, extract key data of interest and establish multiple data warehouses, and adjust the cleaning depth in real time according to the data warehouse status;

[0047] Set up multiple scheduled database execution tasks and pre-process and filter data with lower real-time requirements.

[0048] Preferably, a three-dimensional mining intelligent planning system for an open-pit mine comprises:

[0049] Data acquisition module, used to collect mine geological data;

[0050] Model building module, used to build a panoramic model of the mine site and a three-dimensional dynamic model of heterogeneous objects;

[0051] Data processing module, used to check data integrity and consistency, as well as repair and correct model data;

[0052] The integrated visualization module is used to combine virtual simulation with actual scenes, simulate and display the distribution of geological resources, all ground facilities and working environment of the mining site, and dynamically display the operating status of the mining site and external equipment in real time. All data information such as equipment operation information, production process information, image information, personnel information, alarm and early warning information, and on-site video monitoring information can be linked with the three-dimensional model and dynamically simulated and displayed on the three-dimensional model.

[0053] Preferably, an electronic device comprises:

[0054] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores computer instructions executable by the at least one processor, and the computer instructions are executed by the at least one processor so that the at least one processor performs the above method.

[0055] Preferably, a computer-readable storage medium is characterized in that a plurality of computer instructions are stored in the computer-readable storage medium, and the plurality of computer instructions are used to enable a computer to execute the above method.

[0056] Preferably, a computer program product comprises computer program instructions, wherein the computer program implements the above method when executed by a processor.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] The present invention realizes the centralized, fast and convenient display of data from various systems such as mine production, safety, management, environmental protection, and geology, breaking the data islands, and more intuitively displaying the overall geological structure, equipment and facilities, people, environment, safety and other information of the mine, completing the integration of a simulated three-dimensional real scene map. Compared with the traditional display, it is more detailed and vivid, which can help managers better understand the current situation of the mine, thereby optimizing the production process, improving work efficiency, effectively monitoring changes in the mine environment, and timely discovering potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 Schematic diagram of mining area surface geological data collected by drone;

[0060] Figure 2 It is a schematic diagram of the overall process of the mine 3D visualization technology method;

[0061] Figure 3 Optimized schematic diagram for dynamic viewing range of large models;

[0062] Figure 4 This is a schematic diagram of the steps for implementing vertical ray collision detection;

[0063] Figure 5Schematic diagram of the functional modules included in the three-dimensional visualization of the mine. DETAILED DESCRIPTION

[0064] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0065] Example:

[0066] See also Figure 1-5 , a three-dimensional mining intelligent planning method for an open-pit mine, comprising the following steps:

[0067] S1 establishes spatial measurement geological data, including:

[0068] S1.1 Data collection, collection of mine geological survey data, including mine scene data and mine basic information. The mine scene data is the original map data scanned by drones and total stations, and the mine basic information mainly includes multiple GPS control points and mine basic geographical information. The mine scene data is the original map data scanned by drones and total stations, and the mine basic information mainly includes multiple GPS control points and mine basic geographical information.

[0069] S1.2 Model generation: Generate a three-dimensional surface model of the terrain and the current status of the mining site based on the collected mining geological survey data; during the construction of the three-dimensional surface model, the coordinate correction algorithm of the model is used to repeatedly correct the coordinates of the generated three-dimensional surface model;

[0070] Among them, a three-dimensional surface model of the mine is constructed based on the point, line data and attribute data of the collected mine geological survey data. The point data is the coordinate point in the three-dimensional space, representing the sampling point on the surface of the object; the line data is the edge line, contour line or feature line, which provides additional structural information for the model; the attribute data includes color, texture, normal, material, etc., which is used to enhance the realism and details of the model.

[0071] The specific coordinate correction algorithms include the following three, but are not limited to the following:

[0072] S1.2.1 Ground control point correction: By determining the position of the ground control point in the oblique photography data and obtaining its accurate world coordinates using a measuring instrument, the image coordinates of the control point are matched with the actual world coordinates through an image registration algorithm, thereby establishing a conversion relationship from image coordinates to real world coordinates and correcting the geometric coordinate deviation of the model;

[0073] S1.2.2 Point cloud registration: Point cloud registration methods include feature matching, ICP (Iterative Closest Point) and registration based on geometric constraints. By matching and aligning point clouds from different perspectives, the consistency and correction of geometric coordinates can be achieved;

[0074] S1.2.3 Multi-source data fusion: Oblique photography data can be fused with other sensor data (such as lidar, GPS). By registering and integrating oblique photography data with other sensor data, the geometric coordinate deviation of oblique photography data can be corrected to improve the accuracy and reliability of geometric coordinates.

[0075] The mine geological survey data is collected through total stations, GPS, drones and other equipment, and surface modeling such as terrain and mining site status is generated, such as Figure 1 As shown in the figure, AutoCAD and MapGIS files can be directly imported into the software environment to build a 3D surface model using their point, line and attribute data. In the process, multiple precise GPS control points are added to calibrate the model geological data.

[0076] S2 3D surface model compression conversion, including:

[0077] S2.2 Geometry Compression: Use OpenSceneGraph tools to compress the model geometry and reduce complexity; reduce the complexity of the 3D model by deleting or merging duplicate vertices, edges, faces and other geometric elements.

[0078] S2.3 Texture compression: Use compression algorithms or reduce the resolution of texture images to reduce the size of texture data to reduce the space it occupies;

[0079] S2.4 Hierarchical subdivision: Decompose the 3D surface model into multiple sub-models, and render and process each sub-model separately to improve the overall performance; this step achieves a balance between the quality and data volume of the underlying geological model, so as to improve the speed and efficiency of software loading multiple models later.

[0080] S3 builds a three-dimensional model of heterogeneous materials, including:

[0081] S3.1 Model construction: Build 3D models for various types of transportation equipment, personnel, and monitoring equipment in the mine to obtain a 3D model of heterogeneous objects. Among them, the model is mainly made in fbx format using professional 3DSMAX software, or the initialization small model is generated using ContextCapture modeling software and then modified in detail to finally obtain a 3D model of heterogeneous objects.

[0082] S3.2 Dynamic loading: Create a dynamic model loading package for heterogeneous 3D models and use dynamic mounting technology to reduce the amount of data loading;

[0083] S4 model integrated visualization includes data side and software side. The data side is used to collect, analyze, clean, filter and extract key data, and improve program operation efficiency through smart cloud platform and AI intelligent technology. Among them, AI intelligent technology refers to the ability of cloud computing to automatically allocate computing power and cloud image recognition, such as elastic computing power, intelligent image recognition and other services; the software side is used to write multi-model interaction framework scripts in Unity Edit, import the WebGL engine, and realize data visualization and interaction functions; the visualization and interaction functions use WebGL graphics rendering technology to realize the visualization of the three-dimensional surface model of the mine, the three-dimensional model of heterogeneous materials and the data analysis results, enhance the user's intuitive feeling and understanding ability, and the visualization of data analysis results also includes providing a variety of interactions and animation effects, as well as setting warning conditions and thresholds according to the data analysis results;

[0084] Write a multi-model interaction framework script to implement collision events, dynamic model loading, and model data-driven action functions, and import the webGL engine to achieve fast loading in the web browser.

[0085] The model integrated visualization also includes an algorithm for converting WGS international Mars geographic coordinate data into three-dimensional world coordinate data. The three-dimensional world coordinate data algorithm uses the ratio of the difference between the WGS coordinates and the three-dimensional world coordinates of two reference points as a constant, and uses this constant to complete the conversion from WGS coordinates to three-dimensional world coordinates.

[0086] The 3D world coordinate data algorithm includes the following steps:

[0087] Assume a and b are two reference coordinate points. It is known that the international Mars geographic coordinates of a and b are a1{x1, y1, z1} and b1{x2, y2, z2}, and the three-dimensional world coordinates are a2{x3, y3, z3} and b2{x4, y4, z4}. Their difference ratios p1, p2, and p3 are as follows:

[0088] p1=x 1 -x 2 、p2=y 1 -y 2 、p3=z 1 -z 2 ;

[0089] x3-x4 y3-y4 z3-z4

[0090] If the WGS international Mars geographic coordinates of a point are known to be c{x5, y5, z5}, then the world coordinates of the point are d{x6, y6, z6}, where x6 = x5-p1×(x3-x4), y6 = y5-p2×(y3-y4), and z6 = z5-p3×(z3-z4);

[0091] That is, d{x5-p1×(x3-x4), y5-p2×(y3-y4), z5-p3×(z3-z4)};

[0092] In this application, model integrated visualization also includes a vertical ray collision body detection algorithm, which is used to realize the ground-based motion of moving objects on the terrain model. The specific steps include adding collision bodies, creating rays, emitting rays and performing layer filtering.

[0093] Specifically, the vertical ray collision detection algorithm includes the following steps:

[0094] Add collision body: Use scripts to add object collider properties to the mobile elements such as people, cars, and three-dimensional geological models of mines to implement rigid collision body property settings.

[0095] Create a ray: Use the created Ray class or RaycastHit structure to create a ray; Ray represents the starting point and direction of the ray, and RaycastHit is used to store the information of the intersection between the ray and the object, such as the intersection point, normal, etc. Ray uses the world coordinate Y-axis direction, and the starting point uses a height of 4000m;

[0096] Emit rays: Use the Physics.Raycast function to emit rays and check whether the rays intersect with the surface of the mine geological model. The function returns a Boolean value indicating whether the ray hits the object;

[0097] Layer filtering: Use the layerMask parameter to limit the ray to collision detection only with objects in a specific layer. We use the Ground layer as the collision detection layer.

[0098] In this application, model integrated visualization also includes a large model dynamic visible range tile loading algorithm, which quickly loads large amounts of model data through visible range parameters and automatic unloading of non-visible area tiles, and performs parallel asynchronous transmission and cache processing of model tile data.

[0099] Specific as Figure 4 As shown in the figure, the large model dynamic visual range fragment loading algorithm includes the following steps:

[0100] Firstly, the visual range of the visual device is obtained, including the visual angle, angle and distance, and the constant parameter setting of the best visual is imported;

[0101] Using the characteristics of the split tiles of the 3MX format model to autonomously control loading and unloading, the model tiles in the visible area of ​​the device are loaded, and the model tiles in the non-visible area are unloaded;

[0102] Perform parallel asynchronous transmission of model tile data to improve the loading speed of large 3D base map models;

[0103] Add the logic of caching model tile data, use the web browser to improve the cache capacity, store the loaded model tile data, and improve the secondary loading speed.

[0104] This application also includes the implementation method of multi-source data cleaning and fast query capabilities, specifically including storing different types of real-time data in separate tables and databases, creating a redis cache database to store frequently accessed alarm data, cleaning big data before warehousing and establishing multiple data warehouses, and setting up scheduled database execution tasks to pre-process and screen data with lower real-time requirements.

[0105] Specifically, the implementation of multi-source data cleaning and fast query capabilities includes the following steps:

[0106] Different types of data are stored in separate tables and databases, and the parallel query capability of program SQL is improved by using multi-source databases;

[0107] Create a redis cache database to store the alarm data frequently accessed by the security ADS to speed up the data reading rate;

[0108] Clean the relatively large amount of big data before storage, extract key data of interest and establish multiple data warehouses, and adjust the cleaning depth in real time according to the data warehouse status;

[0109] Set up multiple scheduled database execution tasks and pre-process and filter data with lower real-time requirements.

[0110] In this application, a three-dimensional mining intelligent planning system for an open-pit mine includes:

[0111] Data acquisition module, used to collect mine geological data;

[0112] Model building module, used to build a panoramic model of the mine site and a three-dimensional dynamic model of heterogeneous objects;

[0113] Data processing module, used to check data integrity and consistency, as well as repair and correct model data;

[0114] The integrated visualization module is used to combine virtual simulation with actual scenes, simulate and display the distribution of geological resources, all ground facilities and working environment of the mining site, and dynamically display the operating status of the mining site and external equipment in real time. All data information such as equipment operation information, production process information, image information, personnel information, alarm and early warning information, and on-site video monitoring information can be linked with the three-dimensional model and dynamically simulated and displayed on the three-dimensional model.

[0115] An electronic device, comprising:

[0116] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores computer instructions executable by the at least one processor, and the computer instructions are executed by the at least one processor so that the at least one processor performs the above method.

[0117] A computer-readable storage medium, characterized in that the computer-readable storage medium stores a plurality of computer instructions, and the plurality of computer instructions are used to enable a computer to execute the above method.

[0118] A computer program product comprises computer program instructions, and when the computer program is executed by a processor, the method is implemented.

[0119] like Figure 2 As shown, the development of a 3D visualization program may specifically include the following steps:

[0120] Obtain the geological data of the mine and conduct surface modeling: Use geological data acquisition equipment such as total stations and high-precision drones to collect detailed multi-angle image data of the entire mine with precise geographic coordinates, and set geographic coordinate reference points. After data acquisition is completed, check the data integrity and parameter uniformity of the image; finally, use professional ContextCapture, Pix4D, and 3DMax modeling software to complete the mine surface model construction through multiple steps such as multiple aerial triangulation, puncture points, and production construction. The key to the model construction process is to achieve high precision, and the coordinate correction of the generated model is repeated through the model's coordinate correction algorithm.

[0121] Software processing data: Repair and correct the generated model data in the Rubik's Cube, repair small holes, abnormal suspended matter, water bodies and other irregular objects in the model, and export the model file in OSGB / OBJ format. Then use the model compression algorithm to compress and convert the model's geometric triangles, textures, and layers to achieve a balance between the quality of the underlying geological model and the amount of data, so as to improve the speed and efficiency of the software loading multiple models in the later stage.

[0122] Construction and production of mine site landforms, full-factor models, etc.: Produce a panoramic model of the mine site landform in 3MX format (a format suitable for dynamic loading in browsers), construct three-dimensional models (fbx format) of various types of transportation equipment, personnel, monitoring, early warning devices, slope monitoring equipment, mine boundaries, cordons and other heterogeneous objects in the mine, and complete the production of AB loading packages for dynamic models (including pre-made animations, textures, materials, etc.).

[0123] Model integration visualization: This step includes two aspects: data side and software side. The data side uses the smart cloud platform to complete the collection, analysis, cleaning, screening and other operations of various data in various links of the mine (automatically completed by the program). At the same time, the program operation efficiency is improved through big data analysis, AI intelligence and other technologies, so as to quickly analyze massive production, video, safety, environmental protection and other data, and identify and extract available key data for classification and storage. The software side is to write a multi-model interaction framework script in Unity edit to realize various functions such as collision body events, dynamic loading of models, and model data-driven actions; at the same time, the webGL engine is imported to realize the function that can be quickly loaded by modern mainstream web browsers. Finally, the software function is integrated.

[0124] The mine 3D visualization system also includes the following functions: Figure 5 As shown:

[0125] High-performance 3D GIS engine: The system is developed based on the 3DGIS engine, has LOD data loading mechanism, and supports standard GIS data loading. At the same time, based on drone oblique photography and 3DMAX models, it uses rendering technology to achieve rapid rendering of massive 3D data, achieving a realistic visual experience of the 3D model.

[0126] 3D virtual simulation of mines: establish simulation modeling of mining area terrain, mining field structures, vehicles, and important equipment, and integrate geological models, mining and stripping plan models, and blast pile model simulation displays. Construct open-pit mine safety production operation scenes according to real mine data, and realize the integrated display of geological models, drilling and blast pile data, production plan data and other ground survey and mining results in the mine 3D management and control platform.

[0127] Equipment and personnel information simulation: Supports access to personnel, equipment and other positioning equipment data, displays vehicle location information in real time, and realizes trajectory tracking and monitoring of equipment and personnel. At the same time, it accesses equipment (such as transportation, mining, drilling, slope monitoring, personnel, crushing, production, etc.) operation data, including centralized display of status, speed, angle, fuel consumption, equipment diagnosis alarm and other data.

[0128] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for intelligent planning of three-dimensional mining in an open-pit mine, characterized in that: The steps include: S1 establishes spatial measurement geological data, including: S1.1 Data collection: collect mining geological survey data, including real-life data and basic information of the mine. The real-life data of the mine is the original image data scanned by drones and total stations, and the basic information of the mine is multiple GPS control points and basic geographical information of the mine. S1.2 Model generation: Based on the collected mining geological survey data, a three-dimensional surface model of the mine terrain and the current status of the mining site is generated. During the construction of the three-dimensional surface model, the coordinate correction algorithm of the model is used to repeatedly correct the coordinates of the generated three-dimensional surface model; The coordinate correction algorithms specifically include but are not limited to the following three: S1.2.1 Ground control point correction: By determining the position of the ground control point in the oblique photography data and using the measuring instrument to obtain the accurate world coordinates of the ground control point, the image coordinates of the control point are matched with the actual world coordinates, thereby establishing the conversion relationship from the image coordinates to the real world coordinates and correcting the geometric coordinate deviation of the model; S1.2.2 Point cloud registration: Point cloud registration includes feature matching, ICP and registration based on geometric constraints. It achieves consistency and correction of geometric coordinates by matching and aligning point clouds from different perspectives. S1.2.3 Multi-source data fusion: Oblique photography data can be fused with sensor data. By registering and integrating oblique photography data with sensor data, the geometric coordinate deviation of oblique photography data can be corrected to improve the accuracy and reliability of geometric coordinates. S2 3D surface model compression conversion, including: S2.2 Geometry Compression: Use OpenSceneGraph tools to compress the geometry of the model to reduce complexity; S2.3 Texture compression: Use compression algorithms or reduce the resolution of texture images to reduce the size of texture data; S2.4 Hierarchical subdivision: decompose the three-dimensional surface model into multiple sub-models, and render and process each sub-model separately; S3 builds a three-dimensional model of heterogeneous materials, including: S3.1 Heterogeneous object model construction: Build 3D models for various types of transportation equipment, personnel, and monitoring equipment in the mine. The FBX format model is made by using professional 3DSMAX software, or the initialization small model is generated by using ContextCapture modeling software and then modified in detail to finally obtain the 3D model of the heterogeneous object; S3.2 Dynamic loading: Create a dynamic model loading package for heterogeneous 3D models and use dynamic mounting technology to reduce the amount of data loading; S4 model integrated visualization, including data side and software side. The data side is used to collect, analyze, clean, filter and extract key data, and improve program operation efficiency through smart cloud platform and AI intelligent technology; the software side is used to write multi-model interaction framework scripts in Unity Edit, import the WebGL engine, and realize data visualization and interaction functions; the visualization and interaction functions use WebGL graphics rendering technology to realize the visualization of the mine 3D surface model, the 3D model of heterogeneous materials and the data analysis results. The visualization of data analysis results also includes providing a variety of interactions and animation effects, as well as setting warning conditions and thresholds according to the data analysis results; The model integrated visualization also includes an algorithm for converting WGS international Mars geographic coordinate data into three-dimensional world coordinate data. The three-dimensional world coordinate data algorithm uses the difference ratio between the WGS coordinates and the three-dimensional world coordinates of two reference points as a constant, and uses the constant to complete the conversion from WGS coordinates to three-dimensional world coordinates. The three-dimensional world coordinate data algorithm comprises the following steps: Assume a and b are two reference coordinate points. It is known that the international Mars geographic coordinates of a and b are a1{x1, y1, z1} and b1{x2, y2, z2}, and the three-dimensional world coordinates are a2{x3, y3, z3} and b2{x4, y4, z4}. Their difference ratios p1, p2, and p3 are as follows: If the WGS international Mars geographic coordinates of a point are known to be c{x5, y5, z5}, then the world coordinates of the point are d{x6, y6, z6}, where x6 = x5-p1×(x3-x4), y6 = y5-p2×(y3-y4), and z6 = z5-p3×(z3-z4); That is, d{x5-p1×(x3-x4), y5-p2×(y3-y4), z5-p3×(z3-z4)}.

2. The method for intelligent planning of three-dimensional mining in an open-pit mine according to claim 1, characterized in that: Model integrated visualization also includes a vertical ray collision detection algorithm, which is used to realize the ground-based motion of moving objects on the terrain model. The specific steps include adding collision bodies, creating rays, emitting rays, and performing layer filtering. The vertical ray collision body detection algorithm comprises the following steps: Add collider: Use scripts to add collider properties to moving objects to implement rigid collider property settings. Create a ray: Use the created Ray class or RaycastHit structure to create a ray; Ray represents the starting point and direction of the ray, and RaycastHit is used to store the information of the intersection between the ray and the object, such as the intersection point, normal, etc. Ray uses the world coordinate Y-axis direction, and the starting point uses a height of 4000m; Emit rays: Use the Physics.Raycast function to emit rays and check whether the rays intersect with the surface of the mine geological model. The function returns a Boolean value indicating whether the ray hits the object; Layer filtering: Use the layerMask parameter to limit the ray to collision detection only with objects in a specific layer. We use the Ground layer as the collision detection layer.

3. The method for intelligent planning of three-dimensional mining in an open-pit mine according to claim 1, characterized in that: Model integrated visualization also includes a large model dynamic visible range tile loading algorithm, which quickly loads large amounts of model data through visible range parameters and automatic unloading of non-visible area tiles, and performs parallel asynchronous transmission and cache processing of model tile data; The dynamic visible range shard loading algorithm for large models includes the following steps: Firstly, the visual range of the visual device is obtained, including the visual angle, angle and distance, and the constant parameter setting of the best visual is imported; Using the characteristics of the split tiles of the 3MX format model to autonomously control loading and unloading, the model tiles in the visible area of ​​the device are loaded, and the model tiles in the non-visible area are unloaded; Perform parallel asynchronous transmission of model tile data to improve the loading speed of large 3D base map models; Add the logic of caching model tile data, use the web browser to improve the cache capacity, store the loaded model tile data, and improve the secondary loading speed.

4. The method for intelligent planning of three-dimensional mining in an open-pit mine according to claim 1, characterized in that: It also includes the implementation of multi-source data cleaning and fast query capabilities, including storing different types of real-time data in separate tables and databases, creating a redis cache database to store frequently accessed alarm data, cleaning big data before storage and establishing multiple data warehouses, and setting up scheduled database execution tasks to pre-process and screen data with lower real-time requirements; The implementation of multi-source data cleaning and fast query capabilities includes the following steps: Different types of data are stored in separate tables and databases, and the parallel query capability of program SQL is improved by using multi-source databases; Create a redis cache database to store the alarm data frequently accessed by the security ADS to speed up the data reading rate; Clean the relatively large amount of big data before storage, extract key data of interest and establish multiple data warehouses, and adjust the cleaning depth in real time according to the data warehouse status; Set up multiple scheduled database execution tasks and pre-process and filter data with lower real-time requirements.

5. The method for intelligent planning of three-dimensional mining in an open-pit mine according to claim 1, characterized in that: The data collection is completed through geological data collection equipment, such as total stations and high-precision drones to collect detailed multi-angle image data of the entire mine containing precise geographic coordinates, and set geographic coordinate reference points. After the data collection is completed, the data integrity and parameter uniformity of the image should be checked; finally, ContextCapture, Pix4D, and 3DMax modeling software are used to complete the construction of the mine surface model through multiple steps of aerial triangulation, puncture points, and production construction.

6. A three-dimensional mining intelligent planning system for open-pit mines, applied to the method described in any one of claims 1 to 5, characterized in that: include: Data acquisition module, used to collect mine geological data; Model building module, used to build a panoramic model of the mine site and a three-dimensional dynamic model of heterogeneous objects; Data processing module, used to check data integrity and consistency, as well as repair and correct model data; The integrated visualization module is used to combine virtual simulation with actual scenes, simulate and display the distribution of geological resources, all ground facilities and working environment of the mining site, and dynamically display the operating status of the mining site and external equipment in real time. All data information such as equipment operation information, production process information, image information, personnel information, alarm and early warning information, and on-site video monitoring information can be linked with the three-dimensional model and dynamically simulated and displayed on the three-dimensional model.

7. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; in The memory stores computer instructions that can be executed by the at least one processor, and the computer instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of computer instructions, and the plurality of computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

9. A computer program product comprising computer program instructions, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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