Opencast coal mine intelligent surveying and mining method based on three-dimensional model

Abstract

The invention discloses an open pit coal mine intelligent surveying and mining method based on a three-dimensional model, and belongs to the technical field of open pit mine engineering. In the mining process of the opencast coal mine, based on the technologies of high-precision three-dimensional data acquisition, neural network algorithm optimization, automatic mining and real-time monitoring, equipment state intelligent regulation and control and the like, the intelligent level of exploration and mining of the opencast coal mine is improved, the exploration period is shortened, the data precision is improved, and intelligent mining decision is realized; through precise planning and dynamic adjustment, optimal configuration and efficient utilization of resources are achieved, meanwhile, safety supervision of the mining process is enhanced, the accident risk is reduced, the environment risk and the operation cost are effectively reduced, and the mining industry is promoted to develop towards the green, intelligent and sustainable direction.

Description

Technical Field

[0001] The invention belongs to the technical field of open-pit mine engineering, and in particular relates to an intelligent survey and mining method for open-pit coal mines based on a three-dimensional model. Background Art

[0002] Open-pit coal mining is an important part of the coal industry, and its mining process involves large-scale earth and stone stripping and coal seam excavation. The survey and mining of open-pit coal mines are not only related to the effective development and utilization of coal resources, but also directly affect the safe production, environmental protection and economic benefits of mines. The survey and mining of traditional open-pit coal mines rely on a variety of technical means such as geological exploration, geophysical exploration, geochemical exploration and drilling, but these methods often have problems such as low data collection efficiency, insufficient accuracy and low visualization, which are difficult to meet the needs of modern mine intelligent construction.

[0003] The existing methods of surveying and mining open-pit coal mines often have low data collection efficiency. For example, when open-pit coal mines have many steps and a large mining range on average per month, the traditional GNSS-RTK single-point contact measurement method requires technicians to carry instruments and measure on foot, which is labor-intensive and inefficient. The measurement takes a long time, which seriously affects the progress and efficiency of mine production. The drawings finally formed by traditional acceptance measurement work are DLG plane line drawings. The drawings have low recognition and require professionals to complete the map recognition in combination with the legend, which is not conducive to the mine managers and staff to intuitively understand the actual situation of the mine. At the same time, the mine infrastructure, annual and monthly mining plans are all designed on the plane line drawings, lacking three-dimensional visualization and intelligent management methods, and it is difficult to intuitively display the spatial layout and mining progress of the mine. In addition, traditional survey methods often find it difficult to timely discover and deal with safety hazards in the mining process, such as slope instability and improper blasting operations, which poses a serious threat to the safe production of mines.

[0004] Therefore, how to improve the intelligence level of open-pit coal mine exploration and mining, achieve optimal allocation and efficient utilization of resources, strengthen safety supervision of the mining process, and reduce environmental pollution has become a problem that needs to be solved urgently. Summary of the invention

[0005] In view of the above shortcomings, the purpose of the present invention is to provide an intelligent survey and mining method for open-pit coal mines based on a three-dimensional model.

[0006] The technical solution adopted by the invention is: an intelligent survey and mining method for open-pit coal mines based on a three-dimensional model, which is characterized in that the technical key points include the following steps:

[0007] S1, acquiring three-dimensional data of an open-pit coal mine area by means of a photographing device, and generating a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data;

[0008] S2, generating an optimal mining strategy for the open-pit coal mine area according to the three-dimensional mining model based on a neural network algorithm;

[0009] S3, starting the mining equipment in the open-pit coal mine area to mine according to the optimal mining strategy, monitoring the mining status of the open-pit coal mine area through the sensor equipment in the open-pit coal mine area in combination with the three-dimensional mining model, and triggering an alarm mechanism if the mining status is abnormal;

[0010] S4, based on automatic control technology, monitor the equipment status of the mining equipment, and adjust the equipment status according to the mining status.

[0011] Preferably, S1 generates a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data, comprising the following steps:

[0012] Scanning the open-pit coal mine area by the photographing device to obtain initial data corresponding to the open-pit coal mine area;

[0013] Performing a preprocessing operation on the initial data to obtain the three-dimensional data;

[0014] A three-dimensional mining model corresponding to the open-pit coal mine area is constructed and optimized based on the three-dimensional data.

[0015] Preferably, constructing and optimizing a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data specifically includes:

[0016] Based on the radial basis function, an interpolation surface at each data point in the three-dimensional data is determined:

[0017]

[0018] Where s(x) represents the value of the interpolation surface at the current data point x; n represents the number of adjacent data points of the current data point; δ represents the three-dimensional interpolation coefficient; φ() represents the radial basis function; x represents the current data point; x j Represents the jth adjacent data point of the current data point; ||xx j || represents the distance between the current data point and the jth adjacent data point; p(x) represents the interpolation stability coefficient at the current data point x; Σ represents the summation symbol;

[0019] After determining the interpolation surfaces at all data points in the three-dimensional data, constructing a three-dimensional mining model corresponding to the open-pit coal mine area in combination with the three-dimensional data;

[0020] After constructing the three-dimensional mining model corresponding to the open-pit coal mine area, the three-dimensional mining model is optimized by adjusting the position of each data point based on the network optimization algorithm to generate multiple optimized data points. The expression of the optimized data point is:

[0021]

[0022] In the formula, x ′ represents the optimized data point; x represents the current data point; α represents the smoothing strength coefficient; n represents the number of adjacent data points of the current data point; x j represents the jth adjacent data point of the current data point; Σ represents the summation symbol;

[0023] The optimized three-dimensional mining model is obtained based on the optimized data points.

[0024] Preferably, the photographing device scans the open-pit coal mine area, and generates initial point cloud data of the area based on the captured topography, coal seam distribution and mining status information of the open-pit coal mine area.

[0025] The beneficial effects of the present invention are as follows: the intelligent survey and mining method for open-pit coal mines based on three-dimensional models, during the mining process of open-pit coal mines, based on technologies such as high-precision three-dimensional data acquisition, neural network algorithm optimization, automated mining and real-time monitoring, and intelligent control of equipment status, improves the intelligence level of open-pit coal mine survey and mining, shortens the survey cycle, improves data accuracy, and realizes intelligent mining decisions. Through precise planning and dynamic adjustment, it achieves the optimal allocation and efficient utilization of resources, while strengthening safety supervision of the mining process, reducing accident risks, effectively reducing environmental risks and operating costs, and promoting the development of the mining industry in a green, intelligent, and sustainable direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a process flow of an open-pit coal mine intelligent survey and mining method based on a three-dimensional model provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of a photographing device acquiring data provided by an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of data transmission by a sensor device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] To make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the following is a brief description of the present invention in conjunction with the attached Figure 1 to Figure 3 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0031] See also Figure 1 , is a flow chart of an open-pit coal mine intelligent survey and mining method based on a three-dimensional model provided by an embodiment of the present invention. The execution subject of this embodiment may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, the user equipment may include but is not limited to computers, smart phones, personal digital assistants (Personal Digital Assistant, referred to as: PDA) and the electronic devices mentioned above. The network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. The intelligent survey and mining method adopted in this embodiment includes steps S1 to S4, as follows:

[0032] S1, acquiring three-dimensional data of an open-pit coal mine area by means of a photographing device, and generating a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data;

[0033] S2, generating an optimal mining strategy for the open-pit coal mine area according to the three-dimensional mining model based on a neural network algorithm;

[0034] S3, starting the mining equipment in the open-pit coal mine area to mine according to the optimal mining strategy, monitoring the mining status of the open-pit coal mine area through the sensor equipment in the open-pit coal mine area in combination with the three-dimensional mining model, and triggering an alarm mechanism if the mining status is abnormal;

[0035] S4, based on automatic control technology, monitor the equipment status of the mining equipment, and adjust the equipment status according to the mining status.

[0036] In the modern mining industry, efficient, accurate and sustainable mining strategies can ensure the balance between maximizing the utilization of open-pit coal mine resources and protecting the environment. This process is highly dependent on the integrated application of surveying and mapping technology, data processing and analysis capabilities, and automated control systems.

[0037] Specifically, first of all, we can use high-precision global positioning system (GPS), laser radar (LiDAR) technology and multi-spectral cameras carried by unmanned aerial vehicles (UAVs) and other shooting equipment to comprehensively scan and shoot the open-pit coal mine area. These devices can capture three-dimensional spatial information such as surface morphology, coal seam distribution and geological structure. Through three-dimensional reconstruction software, such as ArcGIS, 3ds Max and mining modeling software, the collected three-dimensional data can be converted into high-precision three-dimensional digital terrain models (DTM) and three-dimensional geological models (3DGM). These models can accurately restore the physical characteristics of the open-pit coal mine area, and contain key information such as the geometric shape of the ore body and the distribution of coal quality, which is convenient for subsequent mining planning.

[0038] Based on the constructed three-dimensional mining model, the convolutional neural network (CNN) and recurrent neural network (RNN) in deep learning are used to combine historical mining data, market demand forecasts, environmental constraints and other multi-source data to perform data analysis and pattern recognition. In addition, through self-learning and optimization, the neural network can comprehensively consider multiple dimensions such as economic benefits, resource recovery rate and environmental impact, and automatically generate the optimal mining strategy. The strategy includes specific parameters such as mining sequence, mining depth and mining boundary, as well as a dynamic adjustment mechanism during the mining process.

[0039] After determining the optimal mining strategy, mining equipment in the open-pit coal mine area, such as excavators, loaders, and transport vehicles, can be started. These equipment are usually equipped with GPS navigation systems and automated driving technology, which can complete mining operations according to the optimal mining strategy, thereby greatly improving mining efficiency and safety. At the same time, in order to monitor the mining status in real time, multiple sets of sensor equipment are arranged in the open-pit coal mine area, including displacement sensors, stress sensors, and environmental monitoring sensors, which are closely integrated with the three-dimensional mining model and realize real-time data transmission and analysis through the Internet of Things (IoT) technology. Once the mining status deviates from the preset range, such as reduced slope stability, excessive environmental pollution, and other abnormal conditions, the alarm mechanism is immediately triggered, and early warning information is sent to management personnel so that countermeasures can be taken quickly.

[0040] By installing various sensors on mining equipment, such as vibration sensors, temperature sensors, and pressure sensors, the operating status, performance parameters, and fault warning information of the equipment can be monitored in real time. Using big data analysis technology, these data can be intelligently analyzed to predict equipment failure trends, arrange maintenance plans in advance, and avoid unplanned downtime. In addition, based on real-time feedback on the mining status, the operating parameters of the mining equipment, such as power output and operating speed, can be dynamically adjusted to match current mining needs and optimize overall mining efficiency and cost-effectiveness.

[0041] See also Figure 2, is a schematic diagram of obtaining data by a photographing device according to an embodiment of the present invention, wherein the three-dimensional data of an open-pit coal mine area is obtained by the photographing device, and a three-dimensional mining model corresponding to the open-pit coal mine area is generated according to the three-dimensional data, specifically including:

[0042] Scanning the open-pit coal mine area by the photographing device to obtain initial data corresponding to the open-pit coal mine area;

[0043] Performing a preprocessing operation on the initial data to obtain the three-dimensional data;

[0044] A three-dimensional mining model corresponding to the open-pit coal mine area is constructed and optimized based on the three-dimensional data.

[0045] Among them, the shooting equipment can be used to conduct a full-scale, high-precision 3D scan of the open-pit coal mine area, capture key information such as the topography, coal seam distribution and mining status of the open-pit coal mine area, and generate the initial point cloud data of the area. These data include the spatial location information, surface texture and elevation changes of the open-pit coal mine area, which is convenient for subsequent 3D modeling.

[0046] The initial point cloud data is preprocessed using data processing software. This process includes noise removal, data filtering, coordinate conversion, and format unification, which can improve data quality, reduce errors, and ensure the accuracy and integrity of three-dimensional data. After preprocessing, the initial data can be converted into standard format data suitable for building a three-dimensional model, that is, three-dimensional data.

[0047] The 3D mining model of the open-pit coal mine area can be constructed by using 3D modeling technology. The model can accurately display the topography and coal seam structure of the open-pit coal mine area, and can be used for subsequent mining planning, slope stability assessment, and environmental impact assessment. In addition, by optimizing the surface smoothness of the model, adjusting the accuracy of the geological structure, and performing scene simulation according to actual needs, the visualization effect and practicality of the 3D mining model can be enhanced.

[0048] The constructing and optimizing the three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data specifically includes:

[0049] Based on the radial basis function, an interpolation surface at each data point in the three-dimensional data is determined:

[0050]

[0051] Where s(x) represents the value of the interpolation surface at the current data point x; n represents the number of adjacent data points of the current data point; δ represents the three-dimensional interpolation coefficient; φ() represents the radial basis function; x represents the current data point; x j Represents the jth adjacent data point of the current data point; ||xxj || represents the distance between the current data point and the jth adjacent data point; p(x) represents the interpolation stability coefficient at the current data point x; Σ represents the summation symbol;

[0052] After determining the interpolation surfaces at all data points in the three-dimensional data, a three-dimensional mining model corresponding to the open-pit coal mine area is constructed in combination with the three-dimensional data.

[0053] After constructing the three-dimensional mining model corresponding to the open-pit coal mine area, the three-dimensional mining model is optimized by adjusting the position of each data point based on the network optimization algorithm to generate multiple optimized data points. The expression of the optimized data point is:

[0054]

[0055] In the formula, x ′ represents the optimized data point; x represents the current data point; α represents the smoothing strength coefficient; n represents the number of adjacent data points of the current data point; x j represents the jth adjacent data point of the current data point; Σ represents the summation symbol;

[0056] The optimized three-dimensional mining model is obtained based on the optimized data points.

[0057] The method of generating the optimal mining strategy for the open-pit coal mine area based on the three-dimensional mining model based on the neural network algorithm specifically includes:

[0058] Based on the three-dimensional mining model, mining data of the open-pit coal mine area is obtained, and features of the mining data are extracted to generate mining input features;

[0059] The mining input feature is input into the neural network structure. For the nth neuron in the lth layer of the neural network structure, the mining weighted input feature corresponding to the mining input feature is:

[0060]

[0061] In the formula, N represents the mining weighted input feature of the nth neuron in the lth layer; l-1 represents the number of neurons in the l-1 layer; Represents the weight from the mth neuron in the l-1th layer to the nth neuron in the lth layer; Represents the mining output feature of the mth neuron in the l-1th layer; Represents the bias term of the nth neuron in the lth layer;

[0062] For the nth neuron of the lth layer in the neural network structure, the mining output feature is calculated according to the mining weighted input feature:

[0063]

[0064] In the formula, represents the mining output feature of the nth neuron in the lth layer; σ() represents the activation function; Represents the mined weighted input features of the nth neuron in the lth layer.

[0065] The mining output characteristics are used as the predicted mining strategy parameters, and the expected mining strategy parameters are retrieved, and the loss function is set as:

[0066]

[0067] In the formula, L(y,y * ) represents the loss function; y represents the predicted mining strategy parameters; y * represents the expected mining strategy parameters; N represents the total number of mining strategy parameters; y k represents the kth predicted mining strategy parameter; represents the kth expected mining strategy parameter;

[0068] The weights and bias items in the neural network structure are updated based on the optimization algorithm, the loss function is minimized, and the optimal mining strategy is generated.

[0069] The starting of the mining equipment in the open-pit coal mine area to perform mining according to the optimal mining strategy, monitoring the mining status of the open-pit coal mine area through the sensor equipment in the open-pit coal mine area in combination with the three-dimensional mining model, and triggering an alarm mechanism if the mining status is abnormal, specifically includes:

[0070] Acquire mining equipment parameters and mining paths corresponding to the optimal mining strategy, and start the mining equipment according to the mining equipment parameters and mining paths;

[0071] Deploy the sensor device in the open-pit coal mine area and collect key mining data through the sensor device;

[0072] Continuously monitor the mining status of the open-pit coal mine area based on the sensor equipment and the three-dimensional mining model;

[0073] When the mining state is abnormal, an alarm mechanism is triggered and abnormality detection is performed.

[0074] It is understandable that in the mining process of open-pit coal mining areas, the optimal mining strategy can be formulated first based on geological exploration data, resource reserve assessment and economic benefit analysis. The strategy includes key indicators such as mining sequence, recovery rate and stripping ratio, as well as specific mining equipment parameter configuration and operation path planning. Using automated control technology, mining equipment can be accurately adjusted and started to ensure that these equipment perform efficient and safe mining operations according to the preset optimal mining strategy.

[0075] See also Figure 3 , is a schematic diagram of data transmission by a sensor device provided in an embodiment of the present invention. To achieve refined management of the mining process, high-precision sensor devices can be widely deployed in open-pit coal mine areas. These devices include inclinometers, stress sensors, displacement monitors, and environmental monitoring sensors, so that key mining data in the open-pit coal mine area can be collected in real time and accurately, and transmitted to the terminal device for storage. These key mining data can be changes in coal seam thickness, slope stability, mining face advancement speed, and environmental parameters.

[0076] Combined with the pre-built three-dimensional mining model, using geographic information system (GIS), big data analysis and Internet of Things (IoT) technology, the collected mining data can be deeply analyzed to achieve all-round and three-dimensional monitoring of the mining status of the open-pit coal mine area.

[0077] It should be noted that the three-dimensional mining model can intuitively display the topography and coal seam distribution of the mining area, and can dynamically simulate the geological changes and stress redistribution during the mining process to achieve safe mining. Once the mining state is found to deviate from the preset safety threshold, such as increased risk of slope instability, excessive advancement of the mining surface leading to waste of resources or increased environmental damage, the alarm mechanism is immediately triggered, and the alarm information is quickly conveyed to managers and on-site operators through various means such as sound and light alarms, SMS notifications, and remote monitoring platforms. At the same time, the anomaly detection process can be automatically started, and the cause of the anomaly can be analyzed using machine learning algorithms, which is convenient for the subsequent formulation of emergency response measures and timely adjustment of the mining plan to ensure the safety and efficiency of open-pit coal mining operations.

[0078] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An intelligent survey and mining method for open-pit coal mines based on a three-dimensional model, characterized in that: The following steps are involved: S1, acquiring three-dimensional data of an open-pit coal mine area by means of a photographing device, and generating a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data; S2, generating an optimal mining strategy for the open-pit coal mine area according to the three-dimensional mining model based on a neural network algorithm; S3, starting the mining equipment in the open-pit coal mine area to mine according to the optimal mining strategy, monitoring the mining status of the open-pit coal mine area through the sensor equipment in the open-pit coal mine area in combination with the three-dimensional mining model, and triggering an alarm mechanism if the mining status is abnormal; S4, based on automatic control technology, monitor the equipment status of the mining equipment, and adjust the equipment status according to the mining status.

2. The method for intelligent surveying and mining of open-pit coal mines based on a three-dimensional model according to claim 1 is characterized in that: S1 generates a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data, including the following steps: Scanning the open-pit coal mine area by the photographing device to obtain initial data corresponding to the open-pit coal mine area; Performing a preprocessing operation on the initial data to obtain the three-dimensional data; A three-dimensional mining model corresponding to the open-pit coal mine area is constructed and optimized based on the three-dimensional data.

3. The method for intelligent surveying and mining of open-pit coal mines based on a three-dimensional model according to claim 2 is characterized in that: Constructing and optimizing a three-dimensional mining model corresponding to the open-pit coal mine area according to the three-dimensional data specifically includes: Based on the radial basis function, an interpolation surface at each data point in the three-dimensional data is determined: Where s(x) represents the value of the interpolation surface at the current data point x; n represents the number of adjacent data points of the current data point; δ represents the three-dimensional interpolation coefficient; φ( ) represents the radial basis function; x represents the current data point; x j Represents the jth adjacent data point of the current data point; ||xx j || represents the distance between the current data point and the jth adjacent data point; p(x) represents the interpolation stability coefficient at the current data point x; ∑ represents the summation symbol; After determining the interpolation surfaces at all data points in the three-dimensional data, constructing a three-dimensional mining model corresponding to the open-pit coal mine area in combination with the three-dimensional data; After constructing the three-dimensional mining model corresponding to the open-pit coal mine area, the three-dimensional mining model is optimized by adjusting the position of each data point based on the network optimization algorithm to generate multiple optimized data points. The expression of the optimized data point is: In the formula, x′ represents the optimized data point; x represents the current data point; α represents the smoothing strength coefficient; n represents the number of adjacent data points of the current data point; x j represents the jth adjacent data point of the current data point; ∑ represents the summation symbol; The optimized three-dimensional mining model is obtained based on the optimized data points.

4. The method for intelligent surveying and mining of open-pit coal mines based on a three-dimensional model according to claim 1 is characterized in that: The photographing device scans the open-pit coal mine area, and generates initial point cloud data of the area based on the captured topography, coal seam distribution and mining status information of the open-pit coal mine area.

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