An open-pit mine floor elevation measurement method and system based on a UAV

Abstract

The present application belongs to the technical field of floor elevation measurement, and discloses an open-pit mine floor elevation measurement method and system based on a UAV. The method comprises the following steps: setting a plurality of measurement points for floor elevation measurement; using a UAV to measure the floor elevation; obtaining a drill hole center coordinate dataset formed by a central drill hole and a plurality of adjacent drill holes; sequentially arranging the drill hole center coordinate dataset; dividing the adjacent two adjacent drill holes and the central drill hole into corresponding triangular regions respectively; obtaining the triangular centroid coordinate data of each triangular region and adding the arranged drill hole center coordinate dataset to obtain a target point coordinate dataset; obtaining a target point floor elevation measurement dataset; traversing all the drill holes of the open-pit mine; obtaining cloud image data according to all the target point floor elevation measurement datasets and performing visual display. The present application solves the problems of high cost and low data value in the prior art.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of floor elevation measurement, and particularly relates to an open-pit mine floor elevation measurement method and system based on a UAV. BACKGROUND

[0002] After the open-pit mining operation is completed, the floor elevation needs to be measured to evaluate the blasting quality, and the next blasting design is adjusted according to the measurement results. In the traditional blasting operation process, the post-blasting measurement is often measured manually, which is time-consuming and labor-intensive, has high cost input, and the measured points are limited, which cannot correctly reflect the post-blasting floor elevation, resulting in low value of the floor elevation measurement data. SUMMARY

[0003] In order to solve the problems of high cost input and low data value in the prior art, the present application aims to provide an open-pit mine floor elevation measurement method and system based on a UAV.

[0004] The technical scheme adopted by the present application is as follows:

[0005] An open-pit mine floor elevation measurement method based on a UAV, comprising the following steps:

[0006] Determining a measurement area for measuring the floor elevation of the open-pit mine, setting a plurality of measurement points in the measurement area, and obtaining a measurement point coordinate data set of the measurement points;

[0007] According to the measurement point coordinate data set, using a UAV to measure the floor elevation of the corresponding position of the open-pit mine, obtaining a floor elevation measurement data set of the measurement points; the floor elevation measurement data set includes floor elevation measurement data of a plurality of measurement points, and each floor elevation measurement data includes measurement point coordinate data and corresponding floor elevation data;

[0008] According to the actual drilling coordinate data of the blast area borehole of the open-pit mine, taking any drilling hole as a center drilling hole, obtaining a drilling hole center coordinate data set composed of each center drilling hole and a plurality of adjacent drilling holes corresponding thereto;

[0009] According to the included angle between the adjacent drilling hole center and the corresponding center drilling hole center in the drilling hole center coordinate data set, the drilling hole center coordinate data set is sequentially arranged in a predetermined direction, and a sequentially arranged drilling hole center coordinate data set is obtained;

[0010] According to the arrangement order of the adjacent drilling holes with respect to the center drilling hole in the sequentially arranged drilling hole center coordinate data set, the adjacent two adjacent drilling holes and the center drilling hole are respectively divided into corresponding triangular regions;

[0011] Obtaining the triangular centroid coordinate data of each triangular region, and adding the obtained plurality of triangular centroid coordinate data to the sequentially arranged drilling hole center coordinate data set to obtain a target point coordinate data set;

[0012] According to the target point coordinate data set and the floor elevation measurement data set, a target point floor elevation measurement data set is obtained; the target point floor elevation measurement data set includes target point floor elevation measurement data of a plurality of target points;

[0013] The matching floor elevation data of the matching floor elevation measurement data of the target point is added to the corresponding target point coordinate data in the target point coordinate data set to obtain the target point floor elevation measurement data set;

[0014] All the drill holes of the open-pit mine are traversed to obtain the target point floor elevation measurement data set of all the drill holes;

[0015] According to all the target point floor elevation measurement data sets, a cloud chart data is obtained using a drawing tool, and the cloud chart data is visually displayed.

[0016] Further, a measurement area for floor elevation measurement of the open-pit mine is determined, a plurality of measurement points are set in the measurement area, and a measurement point coordinate data set of the measurement points is obtained, including the following steps:

[0017] A measurement area for floor elevation measurement of the open-pit mine is determined;

[0018] According to the size and interval distance of the blasting area of the open-pit mine, a plurality of measurement points for floor elevation measurement of the open-pit mine are set;

[0019] The measurement point coordinate data of each measurement point is obtained, and the measurement point coordinate data of all the measurement points is integrated to obtain a measurement point coordinate data set.

[0020] Further, according to the actual drill hole coordinate data of the blast hole of the open-pit mine, any drill hole is taken as a center drill hole, the drill hole center coordinate data set of each center drill hole and a plurality of adjacent drill holes corresponding thereto is obtained, including the following steps:

[0021] Any drill hole is taken as a center drill hole, and according to the actual drill hole coordinate data of the blast hole of the open-pit mine, a plurality of adjacent drill holes adjacent to the center drill hole are obtained;

[0022] The drill hole center coordinate data of the center drill hole and the drill hole center coordinate data of the plurality of adjacent drill holes are integrated to obtain a drill hole center coordinate data set of the current center drill hole;

[0023] All the drill holes of the open-pit mine are traversed to obtain the drill hole center coordinate data set of each center drill hole and a plurality of adjacent drill holes corresponding thereto.

[0024] Further, any drill hole is taken as a center drill hole, and according to the actual drill hole coordinate data of the blast hole of the open-pit mine, a plurality of adjacent drill holes adjacent to the center drill hole are obtained, including the following steps:

[0025] Taking any borehole as a center borehole, obtaining borehole hole center coordinate data of the center borehole according to actual borehole coordinate data of a blast area borehole of the surface mine;

[0026] According to the borehole hole center coordinate data of the center borehole and borehole hole center coordinate data of other boreholes, obtaining a first position distance between the center borehole and the other boreholes;

[0027] According to the first position distance between the center borehole and the other boreholes, using a K-NN algorithm for screening, and taking several other boreholes with the closest first position distance as adjacent boreholes of the center borehole.

[0028] Further, according to an included angle between the adjacent borehole hole center and the corresponding center borehole hole center in the borehole hole center coordinate data set, sequentially arranging the borehole hole center coordinate data set in a preset direction to obtain an arranged borehole hole center coordinate data set, including the following steps:

[0029] Generating a connecting line between each adjacent borehole hole center and the corresponding center borehole hole center in the borehole hole center coordinate data set, and obtaining an included angle between each connecting line and a reference axis;

[0030] According to the included angle, sequentially arranging the borehole hole center coordinate data of the adjacent boreholes in the borehole hole center coordinate data set in the preset direction using a quick sorting algorithm to obtain the arranged borehole hole center coordinate data set.

[0031] Further, the target point coordinate data set includes target point coordinate data of a plurality of target points, the target points including a center borehole hole center, an adjacent borehole hole center and a triangle centroid, and the target point coordinate data including borehole hole center coordinate data of the center borehole, borehole hole center coordinate data of the adjacent borehole and triangle centroid coordinate data of a triangle region.

[0032] Further, according to the target point coordinate data set and a floor elevation measurement data set, obtaining a target point floor elevation measurement data set, including the following steps:

[0033] According to the target point coordinate data set and measurement point coordinate data in the floor elevation measurement data set, obtaining a second position distance between each target point and all measurement points;

[0034] Taking floor elevation measurement data of a measurement point with the closest second position distance to the target point in the floor elevation measurement data set as matching floor elevation measurement data of the target point;

[0035] Adding the matching floor elevation data in the matching floor elevation measurement data to the corresponding target point coordinate data to obtain target point floor elevation measurement data of the target point;

[0036] Traversing all target points in the target point coordinate data set to obtain the target point floor elevation measurement data set.

[0037] The application discloses an open-pit mine floor elevation measurement system based on a UAV, which is used for realizing an open-pit mine floor elevation measurement method.

[0038] The application has the following beneficial effects:

[0039] The application provides an open-pit mine floor elevation measurement method and system based on a UAV, which realizes automatic, intelligent and efficient open-pit mine floor elevation measurement by using a UAV according to a preset measurement point position, increases the measurement point density, reduces the manpower and material resources investment, and reduces the workload; the measurement data and coordinate data are analyzed and processed by a computer program, the data analysis and processing efficiency is improved, the data error caused by human errors is avoided, and the analysis and processing accuracy is improved; the triangular centers of triangular regions formed by the center drill hole and the adjacent blast holes and the center drill hole hole center are taken as representative points, the measurement data of the nearest measurement point is taken as an elevation value, the representative points consider the maximum value and the minimum value of the elevation, the post-blasting floor elevation situation can be truly reflected, and the measurement data value is improved; a drawing tool is used for 3D cloud map data visualization display, and the measurement data intuitiveness and observation convenience are improved.

[0040] Other beneficial effects of the application will be further described in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a flow chart of the open-pit mine floor elevation measurement method based on the UAV in the application. Figure One .

[0042] Figure 2 is a flow chart of the open-pit mine floor elevation measurement method based on the UAV in the application. Figure Two .

[0043] Figure 3 is a structural block diagram of the open-pit mine floor elevation measurement system based on the UAV in the application. DETAILED DESCRIPTION

[0044] The application will be further described below in combination with the drawings and specific embodiments.

[0045] Embodiment 1:

[0046] As Figure 1 and Figure 2As shown in the embodiments, the method for measuring the bottom elevation of an open-pit mine based on a UAV includes the following steps:

[0047] S1: Determine a measurement area for measuring the bottom elevation of the open-pit mine, set a plurality of measurement points in the measurement area, and obtain a measurement point coordinate data set of the measurement points, including the following steps:

[0048] S1-1: Determine a measurement area for measuring the bottom elevation of the open-pit mine;

[0049] S1-2: According to the size of the blasting area and the interval distance of the open-pit mine, set a plurality of measurement points for measuring the bottom elevation of the open-pit mine, and the interval distance of the measurement points should not be too large;

[0050] S1-3: Obtain the measurement point coordinate data of each measurement point, integrate the measurement point coordinate data of all measurement points, and obtain a measurement point coordinate data set;

[0051] S2: According to the measurement point coordinate data set, use a UAV to measure the bottom elevation of the corresponding position of the open-pit mine, and obtain a bottom elevation measurement data set of the measurement points; the bottom elevation measurement data set includes bottom elevation measurement data of a plurality of measurement points, and each bottom elevation measurement data includes measurement point coordinate data and corresponding bottom elevation data;

[0052] S3: According to the actual drilling coordinate data of the blasting hole of the open-pit mine, take any drilling hole as a center drilling hole, obtain a drilling hole center coordinate data set formed by each center drilling hole and the corresponding six adjacent drilling holes, including the following steps:

[0053] S3-1: Take any drilling hole as a center drilling hole, and according to the actual drilling coordinate data of the blasting hole of the open-pit mine, obtain six adjacent drilling holes adjacent to the center drilling hole, including the following steps:

[0054] S3-1-1: Take any drilling hole as a center drilling hole, and according to the actual drilling coordinate data of the blasting hole of the open-pit mine, obtain the drilling hole center coordinate data of the center drilling hole;

[0055] S3-1-2: According to the drilling hole center coordinate data of the center drilling hole and the drilling hole center coordinate data of other drilling holes, obtain the first position distance between the center drilling hole and the other drilling holes;

[0056] S3-1-3: According to the first position distance between the center drilling hole and the other drilling holes, use the K-nearest neighbor (K-NN) algorithm for screening, and take the six other drilling holes closest to the first position distance as the adjacent drilling holes of the center drilling hole, wherein K is a preset adjacent sample parameter, and the number can be adjusted according to the actual drilling condition;

[0057] S3-2: integrate the borehole center coordinate data of the center borehole and the borehole center coordinate data of several adjacent boreholes to obtain the borehole center coordinate data set of the current center borehole;

[0058] S3-3: traverse all the boreholes in the open-pit mine to obtain the borehole center coordinate data set of each center borehole and corresponding several adjacent boreholes;

[0059] S4: sequentially arrange the borehole center coordinate data set in a preset direction according to the included angle between the adjacent borehole center and the corresponding center borehole center in the borehole center coordinate data set to obtain the arranged borehole center coordinate data set, including the following steps:

[0060] S4-1: generate the connecting line of each adjacent borehole center and the corresponding center borehole center in the borehole center coordinate data set, and obtain the included angle between each connecting line and the reference axis;

[0061] S4-2: sequentially arrange the adjacent borehole center coordinate data in the borehole center coordinate data set in a unified direction (clockwise or counterclockwise) according to the included angle using a quicksort algorithm to obtain the arranged borehole center coordinate data set;

[0062] S5: according to the arrangement order of the adjacent boreholes with respect to the center borehole in the arranged borehole center coordinate data set, each adjacent two adjacent borehole centers and the center borehole center form a triangle, and the adjacent two adjacent boreholes and the center borehole are divided into corresponding triangular regions;

[0063] S6: obtain the triangular centroid coordinate data of each triangular region, and add the obtained several triangular centroid coordinate data to the arranged borehole center coordinate data set to obtain the target point coordinate data set;

[0064] The target point coordinate data set includes target point coordinate data of several target points, and the target points include the center borehole center, the adjacent borehole center and the triangular centroid. The target point coordinate data includes the borehole center coordinate data of the center borehole, the borehole center coordinate data of the adjacent borehole and the triangular centroid coordinate data of the triangular region.

[0065] The triangular centroid formed by the connecting line of the adjacent boreholes is added on the basis of the borehole position, which avoids the problem of low floor elevation data caused by only measuring the borehole position, and more accurately represents the overall elevation after the block blasting;

[0066] S7: obtain the target point floor elevation measurement data set according to the target point coordinate data set and the floor elevation measurement data set, including the following steps:

[0067] S7-1: Based on the coordinate data of the measurement points in the target point coordinate dataset and the base plate elevation measurement dataset, obtain the second position distance between each target point and all measurement points;

[0068] S7-2: Use the base plate elevation measurement data of the measurement point closest to the second position of the target point in the base plate elevation measurement data set as the matching base plate elevation measurement data of the target point;

[0069] S7-3: Add the matching base plate elevation data from the matching base plate elevation measurement data to the corresponding target point coordinate data to obtain the target point base plate elevation measurement data;

[0070] S7-4: Traverse all target points in the target point coordinate dataset to obtain the target point base plate elevation measurement dataset;

[0071] S8: Traverse all boreholes in the open-pit mine to obtain the target point bottom elevation measurement dataset for all boreholes;

[0072] S9: Based on the base elevation measurement dataset of all target points, use drawing tools to obtain cloud map data and visualize the cloud map data.

[0073] Example 2:

[0074] like Figure 3 As shown, this embodiment provides an open-pit mine floor elevation measurement system based on UAV, which is used to realize the method of measuring the floor elevation of open-pit mines. The system includes a measurement point coordinate acquisition unit, a floor elevation measurement unit, a borehole center coordinate division unit, a coordinate ordered arrangement unit, a triangle region division unit, a target point coordinate acquisition unit, a target point floor elevation measurement data acquisition unit, a data traversal unit, and a 3D cloud map display unit connected in sequence.

[0075] The measurement point coordinate acquisition unit is used to determine the measurement area for measuring the bottom elevation of the open-pit mine, set several measurement points in the measurement area, and acquire the measurement point coordinate dataset of the measurement points.

[0076] The base elevation measurement unit is used to measure the base elevation of the corresponding location in the open-pit mine using a drone based on the measurement point coordinate dataset, and to obtain the base elevation measurement dataset of the measurement points.

[0077] The borehole center coordinate division unit is used to obtain a borehole center coordinate dataset consisting of each center borehole and several corresponding neighboring boreholes, based on the actual borehole coordinate data of the blasting holes in the blasting area of ​​the open-pit mine, with any borehole as the center borehole.

[0078] The coordinate ordering unit is configured to order the drilling hole center coordinate dataset in a preset direction according to the included angle between the adjacent drilling hole center and the corresponding central drilling hole center in the drilling hole center coordinate dataset, and obtain an ordered drilling hole center coordinate dataset.

[0079] The triangular region division unit is configured to divide the adjacent two adjacent drilling holes and the central drilling hole into corresponding triangular regions, respectively, according to the arrangement order of the adjacent drilling holes and the central drilling hole in the ordered drilling hole center coordinate dataset.

[0080] The target point coordinate acquisition unit is configured to acquire the triangular centroid coordinate data of each triangular region, and add the obtained triangular centroid coordinate data to the ordered drilling hole center coordinate dataset to obtain a target point coordinate dataset.

[0081] The target point floor elevation measurement data acquisition unit is configured to acquire a target point floor elevation measurement dataset according to the target point coordinate dataset and the floor elevation measurement dataset.

[0082] The data traversal unit is configured to traverse all the drilling holes of the open-pit mine to obtain a target point floor elevation measurement dataset of all the drilling holes.

[0083] The 3D cloud chart display unit is configured to acquire cloud chart data using a drawing tool according to all the target point floor elevation measurement datasets, and visually display the cloud chart data.

[0084] The open-pit mine floor elevation measurement method and system based on the unmanned aerial vehicle provided by the application can automatically, intelligently and efficiently measure the open-pit mine floor elevation by using the unmanned aerial vehicle according to the preset measurement point position, increase the measurement point density, reduce the labor and material inputs, and reduce the workload. The measurement data and coordinate data are analyzed and processed by the computer program, the efficiency of data analysis and processing is improved, the data errors caused by human errors are avoided, and the accuracy of analysis and processing is improved. The triangular centroid of the triangular region formed by the central drilling hole and the adjacent blast hole and the central drilling hole center are taken as the representative points, and the measurement data of the nearest measurement point is taken as the elevation value, the maximum value and the minimum value of the elevation are considered, the post-blasting floor elevation can be truly reflected, and the value of the measurement data is improved. The drawing tool is used to visually display the 3D cloud chart data, and the intuitiveness and observation convenience of the measurement data are improved.

[0085] The application is not limited to the above-mentioned optional embodiments, and anyone can derive other various forms of products under the inspiration of the application. The above-mentioned specific embodiments should not be understood as limiting the protection scope of the application, and the protection scope of the application should be defined by the claims, and the specification can be used to explain the claims.

Claims

1. A method for measuring the floor elevation of an open-pit mine based on a UAV, characterized in that: The method comprises the following steps: Determine the measurement area for floor elevation measurement of the open-pit mine, set a plurality of measurement points in the measurement area, and obtain a measurement point coordinate data set of the measurement points; According to the measurement point coordinate data set, use a UAV to perform floor elevation measurement on the corresponding position of the open-pit mine, and obtain a floor elevation measurement data set of the measurement points; the floor elevation measurement data set comprises floor elevation measurement data of a plurality of measurement points, and each floor elevation measurement data comprises measurement point coordinate data and corresponding floor elevation data; According to the actual drilling coordinate data of the blasthole of the open-pit mine, take any drilling hole as a center drilling hole, and obtain a drilling hole center coordinate data set of each center drilling hole and a plurality of adjacent drilling holes corresponding to the center drilling hole; According to the included angle between the adjacent drilling hole center and the corresponding center drilling hole center in the drilling hole center coordinate data set, arrange the drilling hole center coordinate data set in a predetermined direction in order, and obtain an arranged drilling hole center coordinate data set; According to the arrangement order of the adjacent drilling holes with respect to the center drilling hole in the arranged drilling hole center coordinate data set, divide the adjacent two adjacent drilling holes and the center drilling hole into corresponding triangular regions respectively; Obtain triangular centroid coordinate data of each triangular region, and add the obtained triangular centroid coordinate data to the arranged drilling hole center coordinate data set to obtain a target point coordinate data set; According to the target point coordinate data set and the floor elevation measurement data set, obtain a target point floor elevation measurement data set; the target point floor elevation measurement data set comprises target point floor elevation measurement data of a plurality of target points; Iterate through all the drilling holes of the open-pit mine to obtain a target point floor elevation measurement data set of all the drilling holes; According to all the target point floor elevation measurement data sets, use a drawing tool to obtain cloud image data, and visually display the cloud image data.

2. The UAV-based method of measuring the floor level of an open-pit mine according to claim 1, characterized in that: Determine the measurement area for floor elevation measurement of the open-pit mine, set a plurality of measurement points in the measurement area, and obtain a measurement point coordinate data set of the measurement points, comprising the following steps: Determine the measurement area for floor elevation measurement of the open-pit mine; According to the size and interval spacing of the blast area of the open-pit mine, set a plurality of measurement points for floor elevation measurement of the open-pit mine; Obtain measurement point coordinate data of each measurement point, and integrate the measurement point coordinate data of all the measurement points to obtain a measurement point coordinate data set.

3. The method of claim 1, wherein: According to the actual drilling coordinate data of the blasthole of the open-pit mine, take any drilling hole as a center drilling hole, and obtain a drilling hole center coordinate data set of each center drilling hole and a plurality of adjacent drilling holes corresponding to the center drilling hole, comprising the following steps: Take any drilling hole as a center drilling hole, and obtain a plurality of adjacent drilling holes adjacent to the center drilling hole according to the actual drilling coordinate data of the blasthole of the open-pit mine; Integrate the drilling hole center coordinate data of the center drilling hole and the drilling hole center coordinate data of the plurality of adjacent drilling holes to obtain a drilling hole center coordinate data set of the current center drilling hole; Iterate through all the drilling holes of the open-pit mine to obtain a drilling hole center coordinate data set of each center drilling hole and a plurality of adjacent drilling holes corresponding to the center drilling hole.

4. The UAV-based method of measuring the floor level of an open-pit mine according to claim 3, characterized in that: Take any drilling hole as a center drilling hole, and obtain a plurality of adjacent drilling holes adjacent to the center drilling hole according to the actual drilling coordinate data of the blasthole of the open-pit mine, comprising the following steps: Taking any drill hole as a center drill hole, obtaining drill hole center coordinate data of the center drill hole according to actual drill hole coordinate data of blast hole in a blast area of the open-pit mine; According to the drill hole center coordinate data of the center drill hole and drill hole center coordinate data of other drill holes, obtaining first position distances between the center drill hole and the other drill holes; According to the first position distances between the center drill hole and the other drill holes, using K-NN algorithm for screening, and taking several other drill holes with the nearest first position distances as neighboring drill holes of the center drill hole.

5. The UAV-based method of measuring the floor level of an open-pit mine according to claim 4, characterized in that: According to an included angle between a neighboring drill hole center in the drill hole center coordinate data set and a corresponding center drill hole center, sequentially arranging the drill hole center coordinate data set in a preset direction to obtain an arranged drill hole center coordinate data set, including the following steps: Generating a connecting line between each neighboring drill hole center in the drill hole center coordinate data set and a corresponding center drill hole center, and obtaining an included angle between each connecting line and a reference axis; According to the included angle, sequentially arranging drill hole center coordinate data of the neighboring drill holes in the drill hole center coordinate data set in the preset direction using a quick sorting algorithm to obtain the arranged drill hole center coordinate data set.

6. The UAV-based method of measuring the floor level of an open-pit mine according to claim 5, characterized in that: The target point coordinate data set includes target point coordinate data of several target points, the target points include a center drill hole center, a neighboring drill hole center and a triangle center, and the target point coordinate data includes drill hole center coordinate data of the center drill hole, drill hole center coordinate data of the neighboring drill hole and triangle center coordinate data of a triangle region.

7. The UAV-based method of measuring the floor level of an open-pit mine according to claim 6, characterized in that: According to the target point coordinate data set and the floor elevation measurement data set, obtaining a target point floor elevation measurement data set, including the following steps: According to target point coordinate data in the target point coordinate data set and measurement point coordinate data in the floor elevation measurement data set, obtaining second position distances between each target point and all measurement points; Taking floor elevation measurement data of a measurement point with the nearest second position distance to the target point in the floor elevation measurement data set as matching floor elevation measurement data of the target point; Adding matching floor elevation data in the matching floor elevation measurement data to corresponding target point coordinate data to obtain target point floor elevation measurement data of the target point; Traversing all target points in the target point coordinate data set to obtain the target point floor elevation measurement data set.

8. A drone-based open-pit mine floor elevation measurement system, used to implement the open-pit mine floor elevation measurement method as described in any one of claims 1-7, characterized in that: The system includes a measurement point coordinate acquisition unit, a floor elevation measurement unit, a drill hole center coordinate division unit, a coordinate sequential arrangement unit, a triangle region division unit, a target point coordinate acquisition unit, a target point floor elevation measurement data acquisition unit, a data traversal unit and a 3D cloud chart display unit connected in sequence.

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