Unpiloted terrain editable digital twinning method and system for strip mine

Abstract

The invention discloses a strip mine unmanned terrain editable digital twinning method and system, and belongs to the technical field of digital twinning systems. The method comprises the following steps: constructing a three-dimensional terrain contour with topological information, and constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour; when the three-dimensional terrain changes, the latest three-dimensional terrain is downloaded, the latest boundary collected by the current vehicle is collected, a three-dimensional track route is drawn and updated, and the updated three-dimensional terrain is uploaded to a database; downloading two-dimensional graph data, and projecting and mapping a two-dimensional graph on a three-dimensional terrain; acquiring real-time coordinate data of the operation equipment, and adsorbing the real-time coordinate data on the three-dimensional terrain after projection mapping for driving; according to the method, the terrain can be dynamically edited, the editing flexibility higher than that of the traditional technology is provided, and the safety of mine field operation and the effectiveness of management are guaranteed.

Description

Technical Field

[0001] The present invention relates to an editable digital twin method and system for unmanned terrain in an open-pit mine, belonging to the technical field of digital twins. Background Art

[0002] In open-pit mining, digital twin technology provides real-time monitoring and operation simulation for mines. However, existing systems focus more on data display and monitoring of equipment and lack the ability to dynamically edit mine terrain. Although traditional oblique photography technology can generate detailed terrain data, it has limitations in terrain editing and real-time updating, especially the lack of flexibility in handling terrain changes.

[0003] Open-pit mining causes serious damage to the terrain, and the terrain changes almost constantly during the mining process. Due to factors such as ore excavation, blasting operations, waste discharge and surface subsidence, the terrain of the mining area is continuously transformed. If the data of real operating equipment is driven on historical terrain data, it will cause the monitoring personnel to be unable to accurately identify potential risks and problems, thus affecting the effective management and decision-making of the working environment, and increasing safety hazards and operational risks.

[0004] In order to ensure the safety of mine operations and management efficiency, a digital twin system that can support dynamic terrain editing is urgently needed. The system should not only reflect the changes in mine terrain in real time, but also have flexible editing functions to quickly adjust and optimize mining plans. Compared with oblique photography, this system can provide higher editing flexibility and real-time performance, thereby improving the operating accuracy of unmanned vehicles and the overall efficiency of mine mining.

[0005] Patent CN115494771A discloses a method for constructing three-dimensional terrain in professional modeling software. First, a drone is used to shoot over the mining area to obtain tilted photographic images, and then combined with the point cloud data of the ground three-dimensional laser scanning, a three-dimensional model of the mining area is obtained through professional modeling software. The model is integrated into the digital twin system by importing.

[0006] Patent CN115589474A discloses a method for updating the 3D model of an open-pit mine based on rotating multi-baseline photogrammetry. The camera is used for rotating multi-baseline cross-directional photography; image data is compared with previous data using image processing related theories to screen out image data in areas where the terrain of the mining area has changed; the image is processed according to the camera parameters used to obtain precise data; a free network of the survey area is constructed; bundle adjustment is performed; dense matching is performed based on the screened images to generate a 3D point cloud and 3D model construction; 3D model splicing and fusion are performed on the basis of the original 3D model of the mining area to achieve the update of the 3D model of the open-pit mine.

[0007] Patent CN112729259A discloses an intelligent mapping method for an open-pit mine three-dimensional model. First, scene photos of the target area are obtained, then mine radar point cloud data of the target area is collected, and then the mine radar point cloud data is integrated with the scene photos using an intelligent mapping system to obtain a three-dimensional model of the open-pit mine.

[0008] Patent CN115494771A uses professional software to fuse and edit 3D terrain. It is necessary to first export the 3D terrain into a file in a specific format and then import the file into the digital twin system for use. When the terrain needs to be updated, it is necessary to use drones to take oblique photographs again, and then use professional software to re-edit and synthesize them. The cost of shooting and synthesis is high, which cannot meet the business scenario of frequent changes in open-pit mining terrain.

[0009] Patent CN115589474A uses rotating multi-baseline photogrammetry to update the three-dimensional model, which is limited in that it can only dynamically update local areas. The photogrammetry method still requires a complete image acquisition and processing process, and cannot achieve real-time updates; it is highly dependent on the quality of images taken by the camera. Dust during mining operations, frequent sandstorms, and night operations will directly affect the accuracy of the final three-dimensional model; it is unable to integrate other data sources, such as lidar, manually collected data, etc.; the solution based on rotating multi-baseline photogrammetry requires a special camera and data processing system, and the equipment and operating costs are relatively high.

[0010] Patent CN112729259A uses an intelligent surveying and mapping system to fuse point clouds and photos. The resulting open-pit mine three-dimensional model has high accuracy and the number of triangulated mesh faces reaches millions. Existing web browsers find it difficult to support models of this size. The digital twin system requires the development of a special interface to optimize and import the model, which is difficult to develop. The cost of shooting and synthesis is high, which cannot meet the business scenarios of open-pit mining where the terrain changes frequently. Summary of the invention

[0011] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an editable digital twin method and system for unmanned open-pit mine terrain. Through real-time updating and dynamic editing capabilities, the operating accuracy of unmanned vehicles is improved, the overall efficiency of mine mining is improved, the safety of mine operations and the effectiveness of management are guaranteed, and the existing digital twin system needs to develop special interfaces, optimize and import high-precision three-dimensional terrain models, which is difficult to develop; the cost of shooting and synthesis is high, and it cannot meet the business scenarios of open-pit mining terrain frequent changes; In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: A first aspect: A method for editable digital twinning of unmanned terrain in an open-pit mine, the method comprising: Constructing a three-dimensional terrain contour with topological information, and constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour; When the 3D terrain changes, download the latest 3D terrain, collect the latest boundaries collected by the current vehicle, draw the 3D trajectory route for update, and upload the updated 3D terrain to the database; Download the two-dimensional graphic data, and project the two-dimensional graphic data onto the edited three-dimensional terrain; Acquire the real-time coordinate data of the operating equipment and attach the real-time coordinate data to the edited three-dimensional terrain for driving.

[0012] Optionally, the method further includes verifying and adjusting the three-dimensional terrain with topological information, and the specific method includes: Generate a three-dimensional trajectory route based on the real-time coordinates reported by the collected vehicles; For the area where the road surface is below the three-dimensional trajectory route, all points included in the area are raised to the elevation of the three-dimensional trajectory route; for the area where the road surface is above the three-dimensional trajectory route, all points included in the area are lowered to the elevation of the three-dimensional trajectory route.

[0013] Optionally, constructing a three-dimensional terrain profile with topological information includes: Collect peripheral data of closed drivable areas and obtain three-dimensional terrain contours with topological information through triangulation algorithm.

[0014] Optionally, constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour includes: The internal area data of the closed drivable area is collected and inserted into the three-dimensional terrain contour with topological information. The three-dimensional terrain contour with topological information is merged with the internal data of the closed drivable area through the triangulation algorithm to obtain the three-dimensional terrain with topological information.

[0015] Optionally, the constructing of the three-dimensional terrain contour with topology information further includes: using a half-edge data structure to manage processing of the three-dimensional terrain contour with topology information.

[0016] Optionally, constructing the three-dimensional terrain with topology information based on the three-dimensional terrain contour further includes: using a half-edge data structure to manage processing of the three-dimensional terrain with topology information.

[0017] Optionally, the half-edge data structure management includes: using point editing, editing functions, adjusting the elevation of abnormal internal points, deleting redundant internal points, and streamlining the number of internal points.

[0018] Optionally, the loading of the two-dimensional graphic data and projecting the two-dimensional graphic data onto the edited three-dimensional terrain includes: Subdivide the two-dimensional drawn graphic data into dense triangulated networks; Traverse each vertex a of the triangulated network and perform ray detection downward from each vertex of the triangulated network; The intersection point of the ray and the three-dimensional terrain locates the intersection point b; If vertex a detects a three-dimensional terrain, the elevation of intersection point b is used as the elevation of triangulated vertex a; If no three-dimensional terrain is detected at vertex a, the elevation of vertex a is not changed and its original elevation is maintained; After traversing all vertices, re-rendering is performed so that the two-dimensional graphics are covered on the three-dimensional terrain, thus achieving projection mapping.

[0019] Optionally, the three-dimensional terrain contour includes boundary points.

[0020] A second aspect: an editable digital twin system for unmanned terrain in an open-pit mine, the system comprising: A terrain construction module, used to construct a three-dimensional terrain contour with topological information, and to construct a three-dimensional terrain with topological information based on the three-dimensional terrain contour; The terrain update module is used to download the latest 3D terrain when the 3D terrain changes, collect the latest boundaries collected by the current vehicle, draw the 3D trajectory route for update, and upload the updated 3D terrain to the database; A two-dimensional map mapping module is used to download two-dimensional graphic data and project the two-dimensional graphic data onto the edited three-dimensional terrain; The equipment data driving module is used to obtain the real-time coordinate data of the operating equipment and absorb the real-time coordinate data on the edited three-dimensional terrain for driving.

[0021] Compared with the prior art, the present invention has the following beneficial effects: The present invention can dynamically edit the terrain by integrating the data collection and real-time update mechanism, providing higher editing flexibility than traditional technologies. The use of real-time updated three-dimensional terrain data can improve the navigation accuracy of unmanned vehicles. Through accurate elevation data and terrain models, unmanned equipment can better adapt to complex terrain conditions, reduce operational risks and improve operating efficiency. The present invention ensures efficient management and accurate rendering of 3D terrain data through half-edge data structure and custom rendering pipeline. In addition, regularly backing up the stored editing results increases data security and prevents data loss or damage; The present invention can accurately map the two-dimensionally drawn graphic data onto the three-dimensional terrain, and ensure the high-precision docking of the two-dimensional data and the three-dimensional terrain through the subdivision of the dense triangulated network and ray detection, thereby improving the accuracy of data integration; Compared with the traditional oblique photography technology, the present invention reduces the complexity and cost of updating the terrain model. The system avoids the high cost of re-shooting and data processing through real-time data collection and editing, thereby reducing the overall maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Shown is a flow chart of the open-pit mine unmanned terrain editable digital twin method of the present invention; Figure 2 The figure is a flow chart of an embodiment of three-dimensional terrain construction of the present invention; Figure 3 Shown is a flow chart of an embodiment of updating three-dimensional terrain according to the present invention. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Example

[0026] like Figure 1-Figure 3 As shown, the present invention discloses an editable digital twin method for unmanned terrain in an open-pit mine, the method comprising: Step 1, constructing a three-dimensional terrain contour with topological information, and constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour; Step 2: when the 3D terrain changes, download the latest 3D terrain, collect the latest boundary collected by the current vehicle, draw the 3D trajectory route for editing and updating, and upload the edited 3D terrain to the database; Step 3, downloading the two-dimensional graphic data, and projecting the two-dimensional graphic data onto the edited three-dimensional terrain; Step 4, obtain the real-time coordinate data of the operating equipment, and adsorb the real-time coordinate data on the edited three-dimensional terrain for driving.

[0027] In the specific implementation process of this embodiment, Figure 2 As shown, for step 1, first, according to the triangulation algorithm, the manually collected closed drivable area data is output as a three-dimensional terrain contour with topological information and managed using a half-edge data structure. The contour only contains boundary points, not internal points.

[0028] Next, the manually collected internal area data (such as unloading area, working area, static area, reference line, etc.) is inserted into the three-dimensional terrain contour. According to the triangulation algorithm, the three-dimensional terrain contour data and the inserted internal area data are fused and output as a three-dimensional terrain with topological information, and managed using the half-edge data structure.

[0029] In this embodiment, after obtaining the three-dimensional terrain in step 1, it is also necessary to verify and adjust the three-dimensional terrain with topological information. The specific adjustment and verification methods include: Generate a three-dimensional trajectory route based on the real-time coordinates reported by the collected vehicles; For the area where the road surface is below the three-dimensional trajectory route, all points included in the area are raised to the elevation of the three-dimensional trajectory route; for the area where the road surface is above the three-dimensional trajectory route, all points included in the area are lowered to the elevation of the three-dimensional trajectory route.

[0030] In the specific implementation process of this embodiment, the management of the half-edge data structure described in step 1 includes: using point editing and editing functions to adjust the elevation of abnormal internal points, delete redundant internal points, and reduce the number of internal points.

[0031] In the specific implementation process of this embodiment, Figure 2 As shown, for step 2, specifically: when using a web browser to access the digital twin system, first download the latest three-dimensional terrain data through the terrain update module to maintain the real-time nature of the data. When the three-dimensional terrain data does not exist, call the terrain construction module to construct the three-dimensional terrain. After the construction is completed, upload it to the database through the terrain update module to ensure the consistency and integrity of the data.

[0032] When the three-dimensional terrain changes significantly, a three-dimensional trajectory route is drawn according to the latest boundary collected manually or by a collection vehicle, and the three-dimensional terrain is updated using the terrain update module, specifically including: for areas where the boundaries of the terrain areas are inside or outside the three-dimensional trajectory line, all points on the boundaries of the area are adjusted to the trajectory line. After the adjustment is completed, the terrain update module is called to upload the updated terrain to the database.

[0033] The terrain update module is used to regularly back up the three-dimensional terrain database to meet the needs of terrain change backtracking, map editing error correction, data recovery and security. Through regular backup, the system can save and restore the historical version of the terrain, facilitate the analysis of the historical process of terrain changes, and quickly restore to the previous correct state when errors occur during the editing process. In addition, the backup mechanism ensures the security of the data, prevents losses caused by system failures or data loss, and realizes reliable data recovery.

[0034] In the specific implementation process of this embodiment, specifically, step 3, downloading the two-dimensional graphic data to project the two-dimensional graphic onto the edited three-dimensional terrain includes: Subdivide the two-dimensional drawn graphic data into dense triangulated networks; Traverse each vertex a of the triangulated network and perform ray detection downward from each vertex of the triangulated network; The intersection point of the ray and the three-dimensional terrain locates the intersection point b; If vertex a detects a three-dimensional terrain, the elevation of intersection point b is used as the elevation of triangulated vertex a; If no three-dimensional terrain is detected at vertex a, the elevation of vertex a is not changed and its original elevation is maintained; After traversing all vertices, re-rendering is performed so that the two-dimensional graphics are covered on the three-dimensional terrain, thus achieving projection mapping.

[0035] In the specific implementation process of this embodiment, the specific step 4 is to obtain the real-time coordinate data of the mining truck, excavator, electric shovel and other operating equipment. Perform ray detection at the head, middle and tail of the equipment to calculate the actual elevation and pitch angle of the equipment, so as to ensure that the equipment can be accurately adsorbed and driven on the three-dimensional terrain.

[0036] The present invention not only has the function of updating terrain data efficiently, but also provides flexible editing tools to quickly adjust and optimize mining plans. This system improves the operating accuracy of unmanned vehicles, improves the overall efficiency of mining, and ensures the safety of mining operations and the effectiveness of management through real-time updating and dynamic editing capabilities. Example

[0037] Disclosed is an open-pit mine unmanned terrain editable digital twin system, the system comprising: A terrain construction module, used to construct a three-dimensional terrain contour with topological information, and to construct a three-dimensional terrain with topological information based on the three-dimensional terrain contour; The terrain update module is used to download the latest 3D terrain when the 3D terrain changes, collect the latest boundary collected by the current vehicle, draw the 3D trajectory route for editing and updating, and upload the edited 3D terrain to the database; A two-dimensional map mapping module is used to download two-dimensional graphic data and project the two-dimensional graphics onto the edited three-dimensional terrain; The equipment data driving module is used to obtain the real-time coordinate data of the operating equipment and absorb the real-time coordinate data on the edited three-dimensional terrain for driving.

[0038] The system of Example 2 is specifically disclosed as follows: Terrain building blocks: Construct three-dimensional terrain contours using manually collected drivable area boundaries; Use manually collected internal area data (such as unloading area, working area, static area, reference line, etc.) to build the internal structure of the three-dimensional terrain; Use the real-time coordinates reported by the collection vehicle to verify and adjust the three-dimensional terrain elevation.

[0039] Terrain Update Module: For areas with changing terrain, the 3D terrain is updated using the latest data collected manually or by collection vehicles; Download 2D graphic data, including loading area, unloading area, road network, reference line, retaining wall line, etc.; Download, upload, and backup 3D terrain.

[0040] 2D map mapping module: Project the two-dimensionally drawn graphic data (such as unloading areas, work areas, obstacles, road networks) onto the edited three-dimensional terrain.

[0041] Device data driver module: Obtain real-time data of mining trucks, excavators, shovels and other operating equipment, and drive them on the edited terrain.

[0042] The downloading, uploading and backing up of the three-dimensional terrain include: When initializing the system, first use the interface to download the latest data from the 3D terrain database and render it in real time; When the terrain editing operation is completed, the latest 3D terrain topology data is uploaded to the 3D terrain database; Regularly back up the 3D terrain database to meet the needs of terrain backtracking, editing operation backtracking, etc.

[0043] The three-dimensional terrain data updated in real time by the system of the present invention can improve the navigation accuracy of unmanned vehicles. Through accurate elevation data and terrain models, unmanned equipment can better adapt to complex terrain conditions, reduce operational risks and improve operating efficiency.

[0044] The system of the present invention can verify and adjust the three-dimensional terrain data in real time, especially in areas where the terrain changes frequently (such as loading and unloading areas). This not only improves the timeliness of the data, but also accurately reflects the latest status of the mine, thereby supporting more effective mine management and operation planning.

[0045] The system of the present invention ensures efficient management and accurate rendering of three-dimensional terrain data through half-edge data structure and custom rendering pipeline. In addition, regular backup of stored editing results increases data security and prevents data loss or damage.

[0046] The real-time, dynamically updated terrain data and efficient editing functions of the present invention make mine operation planning and adjustment more accurate. Managers can make scientific decisions based on the latest terrain data, optimize resource allocation, and improve the overall production efficiency of the mine.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for editing digital twin terrain of unmanned open-pit mines, characterized in that: The method comprises: Constructing a three-dimensional terrain contour with topological information, and constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour; When the 3D terrain changes, download the latest 3D terrain, collect the latest boundaries collected by the current vehicle, draw the 3D trajectory route for editing and updating, and upload the edited 3D terrain to the database; Download the two-dimensional graphic data, and project the two-dimensional graphic data onto the edited three-dimensional terrain; Acquire the real-time coordinate data of the operating equipment and attach the real-time coordinate data to the edited three-dimensional terrain for driving.

2. The open-pit mine unmanned terrain editable digital twin method according to claim 1 is characterized in that: The method further includes checking and adjusting the three-dimensional terrain with topological information, and the specific method includes: Generate a three-dimensional trajectory route based on the real-time coordinates reported by the collected vehicles; For the area where the road surface is below the three-dimensional trajectory route, all points included in the area are raised to the elevation of the three-dimensional trajectory route; for the area where the road surface is above the three-dimensional trajectory route, all points included in the area are lowered to the elevation of the three-dimensional trajectory route.

3. The open-pit mine unmanned terrain editable digital twin method according to claim 1 is characterized in that: The constructing of a three-dimensional terrain profile with topological information includes: Collect peripheral data of closed drivable areas and obtain three-dimensional terrain contours with topological information through triangulation algorithm.

4. The open-pit mine unmanned terrain editable digital twin method according to claim 3 is characterized in that: The method of constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour includes: The internal area data of the closed drivable area is collected and inserted into the three-dimensional terrain contour with topological information. The three-dimensional terrain contour with topological information is merged with the internal data of the closed drivable area through the triangulation algorithm to obtain the three-dimensional terrain with topological information.

5. The open-pit mine unmanned terrain editable digital twin method according to claim 3 is characterized in that: The constructing of the three-dimensional terrain contour with topological information also includes: using the half-edge data structure to manage and process the three-dimensional terrain contour with topological information.

6. The open-pit mine unmanned terrain editable digital twin method according to claim 4, characterized in that: The method of constructing the three-dimensional terrain with topological information based on the three-dimensional terrain contour also includes: using the half-edge data structure to manage and process the three-dimensional terrain with topological information.

7. The open-pit mine unmanned terrain editable digital twin method according to claim 5 or 6, characterized in that: The half-edge data structure management includes: using point editing and line editing functions to adjust the elevation of abnormal internal points, delete redundant internal points, and reduce the number of internal points.

8. The open-pit mine unmanned terrain editable digital twin method according to claim 1, characterized in that: The method of loading the two-dimensional graphic data and projecting the two-dimensional graphic data onto the edited three-dimensional terrain includes: Subdivide the two-dimensional drawn graphic data into dense triangulated networks; Traverse each vertex a of the triangulated network and perform ray detection downward from each vertex of the triangulated network; The intersection point of the ray and the three-dimensional terrain locates the intersection point b; If vertex a detects a three-dimensional terrain, the elevation of intersection point b is used as the elevation of triangulated vertex a; If no three-dimensional terrain is detected at vertex a, the elevation of vertex a is not changed and its original elevation is maintained; After traversing all vertices, re-rendering is performed so that the two-dimensional graphics are covered on the three-dimensional terrain, thus achieving projection mapping.

9. The open-pit mine unmanned terrain editable digital twin method according to claim 1, characterized in that: The three-dimensional terrain contour includes boundary points.

10. An unmanned terrain editable digital twin system for open-pit mines, characterized in that: The system comprises: A terrain construction module, used to construct a three-dimensional terrain contour with topological information, and to construct a three-dimensional terrain with topological information based on the three-dimensional terrain contour; The terrain update module is used to download the latest 3D terrain when the 3D terrain changes, collect the latest boundary collected by the current vehicle, draw the 3D trajectory route for editing and updating, and upload the edited 3D terrain to the database; A two-dimensional map mapping module downloads two-dimensional graphic data and projects the two-dimensional graphic data onto the edited three-dimensional terrain; The equipment data driving module is used to obtain the real-time coordinate data of the operating equipment and absorb the real-time coordinate data on the edited three-dimensional terrain for driving.

Images