Electronic map application method, device and equipment, medium and drilling machine

Abstract

The invention discloses an electronic map application method and device, equipment, a medium and a drilling machine. The method comprises the steps that RTK information of the drilling machine and model information of the drilling machine are acquired; a live-action map is obtained, the live-action map comprises an area part, displayed in the display window, of the whole stope live-action map, and the whole stope live-action map carries RTK information; hole site information and electronic fence information are obtained, and the drilling machine is used for executing the punching action according to the hole site information; acquiring a three-dimensional orthographic map according to the live-action map; obtaining an electronic map according to the RTK information and model information of the drilling machine, the hole site information, the electronic fence information and the three-dimensional orthographic map; and sending prompt information according to the electronic map. The remote operation process of the drilling machine can be assisted by the electronic map, and the drilling machine and the hole position can be visually checked.

Description

Technical Field

[0001] The present application relates to the technical field of mining equipment, and in particular to an electronic map application method, device, equipment, medium and drilling rig. Background Art

[0002] Minerals are key national strategic resources in my country, and the mining industry is a key supporting industry for my country's national economy. The drilling of holes and rocks by drilling rigs is the first and most important link in the production process of non-coal mines. At present, when drilling rigs are operating, they need to rely on manual labor to place red plastic bags on the mining site as hole markers. However, the drilling rigs are large in body, with many blind spots, many hidden dangers of crushing and collision accidents, and great hazards. Manual on-site dispatching and control poses safety risks. Summary of the invention

[0003] The present application aims to propose an electronic map application method, device, equipment, medium and drilling rig, which can display the location of hole positions, electronic fences and drilling rigs in real time on the electronic map, and then can assist remote operations to complete precise drilling based on the electronic map.

[0004] According to the first aspect of the present application, the electronic map application method includes:

[0005] Acquire RTK information of the drilling rig and model information of the drilling rig;

[0006] Acquire a real-scene map, wherein the real-scene map includes the area portion of the overall real-scene map of the stope displayed in the display window, and the overall real-scene map of the stope carries RTK information;

[0007] Acquiring hole location information and electronic fence information, the drilling machine is used to perform a drilling action according to the hole location information;

[0008] According to the real-scene map, a three-dimensional orthophoto map is obtained;

[0009] Obtaining an electronic map according to the RTK information of the drilling rig and the model information, the hole position information, the electronic fence information and the three-dimensional orthophoto map;

[0010] According to the electronic map, a prompt message is issued.

[0011] According to some embodiments of the present application, the model information of the drilling rig includes RTK information corresponding to a plurality of contour points, and the plurality of contour points constitute a geometric figure corresponding to the contour of the drilling rig;

[0012] The step of obtaining an electronic map according to the RTK information of the drilling rig and the model information, the hole position information, the electronic fence information and the three-dimensional orthophoto map includes:

[0013] Importing the RTK information of the drilling rig and the RTK information corresponding to the plurality of contour points into the three-dimensional orthophoto map, and drawing a geometric model of the drilling rig in the three-dimensional orthophoto map;

[0014] Importing the hole position information into the three-dimensional orthophoto map, and drawing a plurality of hole positions where the drilling machine needs to perform drilling actions in the three-dimensional orthophoto map;

[0015] The electronic fence information is imported into the three-dimensional orthophoto map, and the electronic fence is drawn in the three-dimensional orthophoto map to obtain the electronic map.

[0016] According to some embodiments of the present application, issuing prompt information according to the electronic map includes:

[0017] Obtaining a safety distance threshold of the drilling rig;

[0018] Obtaining a safe geometric model according to the safe distance threshold and the geometric model;

[0019] When the safety geometric model intersects with the electronic fence, a collision warning prompt message is issued.

[0020] According to some embodiments of the present application, the model information of the drilling rig includes RTK information corresponding to key position points, and the key position points include the drill head position points of the drilling rig;

[0021] The issuing of prompt information according to the electronic map includes:

[0022] Acquire current hole position RTK information, where the current hole position RTK information is RTK information of the hole position corresponding to the current drilling action performed by the drilling rig;

[0023] When the deviation between the current hole position RTK information and the RTK information corresponding to the drill head position is within a threshold range, a hole position alignment prompt message is issued.

[0024] According to some embodiments of the present application, obtaining a real-life map includes:

[0025] Obtaining an overall real-life map of the stope;

[0026] Acquire RTK area information corresponding to the area portion of the overall real-life map of the stope displayed in the display window;

[0027] Determining the display zoom ratio according to the RTK area information and the resolution of the display window;

[0028] The real-scene map is determined according to the RTK area information, the resolution of the display window, the display zoom ratio and the overall real-scene map of the stope, and the real-scene map carries RTK information.

[0029] According to some embodiments of the present application, obtaining a three-dimensional orthophoto map according to the real scene map includes:

[0030] Based on the webGL technology, the horizontal plane area in the real-life map is used as the horizontal plane anchoring area, and the top-down perspective directly above the drill bit of the drilling rig is used as the camera perspective, and the three-dimensional orthophoto map is generated according to the real-life map.

[0031] According to the second aspect of the present application, an electronic map application device includes:

[0032] A first acquisition module, used for acquiring RTK information of a drilling rig and model information of the drilling rig;

[0033] A second acquisition module is used to acquire a real-scene map, wherein the real-scene map includes the area portion of the overall real-scene map of the stope displayed in the display window, and the overall real-scene map of the stope carries RTK information;

[0034] A third acquisition module is used to acquire hole position information and electronic fence information, and the drilling rig is used to perform a drilling action according to the hole position information;

[0035] A fourth acquisition module is used to acquire a three-dimensional orthophoto map according to the real scene map;

[0036] An electronic map acquisition module, used to obtain an electronic map according to the RTK information of the drilling rig and the model information, the hole position information, the electronic fence information and the three-dimensional orthophoto map;

[0037] The prompt module is used to issue prompt information according to the electronic map.

[0038] According to an electronic device of an embodiment of the third aspect of the present application, includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the electronic map application method as described in any one of the embodiments of the second aspect mentioned above are implemented.

[0039] The drilling rig according to the fourth aspect embodiment of the present application includes the electronic device as described in the third aspect embodiment.

[0040] According to the computer-readable storage medium of the fifth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the electronic map application method as described in the first aspect embodiment above.

[0041] In an embodiment of the present application, by obtaining the drilling rig's own relevant positioning information and model information, the hole position information of the drilling rig, and the electronic fence information of the area restricting the drilling rig's movement, and combining it with the map information of the mining site where the drilling rig is located, the hole position, electronic fence and drilling rig can be displayed in real time on the electronic map, and the precise position of the drilling rig and the hole position in the map can be determined. Remote operation based on the electronic map can be realized to complete precise drilling, avoiding the problem of low accuracy caused by backward hole position marking conditions during local manual operation and safety risks during the operation.

[0042] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0044] Figure 1 is a flowchart of an embodiment of the electronic map application method of the present application;

[0045] Figure 2 is a schematic diagram of the structure of an embodiment of the electronic map application device of the present application;

[0046] Figure 3 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0048] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0049] In the description of the present application, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application 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 should not be understood as a limitation on the present application.

[0050] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0051] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0052] Figure 1 This is a flow chart of an embodiment of the electronic map application method provided in this application. Figure 1 , the embodiments of the present application are further described.

[0053] like Figure 1 As shown, the embodiment of the present application proposes an electronic map application method, which includes:

[0054] Step 101, obtaining RTK information and model information of the drilling rig;

[0055] Step 102, obtaining a real-scene map, the real-scene map including the area portion of the overall real-scene map of the stope displayed in the display window, the overall real-scene map of the stope carrying RTK information;

[0056] Step 103, obtaining hole position information and electronic fence information, and the drilling machine is used to perform a drilling action according to the hole position information;

[0057] Step 104: Obtain a three-dimensional orthophoto map based on the real-scene map;

[0058] Step 105, obtaining an electronic map according to the RTK information and model information of the drilling rig, hole position information, electronic fence information and the three-dimensional orthophoto map;

[0059] Step 106: Issue a prompt message according to the electronic map.

[0060] In an embodiment of the present application, by obtaining the drilling rig's own relevant positioning information and model information, the hole position information of the drilling rig, and the electronic fence information of the area restricting the drilling rig's movement, and combining it with the map information of the mining site where the drilling rig is located, the hole position, electronic fence and drilling rig can be displayed in real time on the electronic map, and the precise position of the drilling rig and the hole position in the map can be determined. Remote operation based on the electronic map can be realized to complete precise drilling, avoiding the problem of low accuracy caused by backward hole position marking conditions during local manual operation and safety risks during the operation.

[0061] In the above step 101, the RTK information and the model information of the drilling rig are obtained.

[0062] The above RTK information is real-time kinematic (RTK) information, which is obtained based on real-time kinematic carrier phase difference technology.

[0063] The drilling rig may be a drilling rig with a positioning function used for drilling in a mine, or a drilling rig that can be remotely operated. Specifically, the drilling rig may be a rotary drill.

[0064] The above-mentioned drilling rig model information may be information required for establishing a drilling rig equipment model on a map, and may specifically include outline geometry information of the drilling rig and size information of key components of the drilling rig.

[0065] The RTK information of the drilling rig can be used as the positioning information of the drilling rig. In some cases, GNNS information can also be used as the positioning information of the drilling rig.

[0066] In the above step 102, a real-scene map is obtained, and the real-scene map includes the area portion of the overall real-scene map of the stope displayed in the display window, and the overall real-scene map of the stope carries RTK information.

[0067] The above-mentioned overall real-life map of the mining site can facilitate observation of the actual on-site conditions of the mining site and assist operating personnel in understanding the conditions in the mining area and its surroundings.

[0068] The above-mentioned display window can be a display window on the visualization software of the remote terminal. When the operator controls the drilling rig equipment remotely, the map information can be obtained through the display window. The above-mentioned real-scene map can be the area part displayed in the display window of the overall real-scene map of the mining site. Specifically, it can be a map of the area near the drilling rig equipment.

[0069] The above-mentioned overall real-life map of the mining site carries RTK information. By integrating RTK information into the overall real-life map of the mining site, it is possible to display an intuitive visual image of the entire mining site while providing precise geographic positioning information corresponding to each point in the map.

[0070] In the above step 103, the hole position information and the electronic fence information are obtained, and the drilling machine is used to perform the drilling action according to the hole position information.

[0071] The above-mentioned hole position information may be the hole position information corresponding to the drilling action performed by the drilling rig. The above-mentioned hole position information may include positioning information of the hole position, specifically, coordinate information. The operator can achieve precise drilling through the specific coordinate information of the hole position; the above-mentioned hole position information may also include status information of the hole position. The status information includes the category of the hole position and other relevant parameters. The operator can assist remote operation by checking the status information of the hole position.

[0072] For example, the categories of the above-mentioned hole positions may include completed holes, waste holes, and supplementary holes added for temporary operations; other relevant parameters of the above-mentioned hole positions may include the drilling depth, hole diameter, qualified status and water content of the hole positions.

[0073] For example, it supports differentiating the hole coordinates according to the operating conditions of the rotary drill, whether the hole is a completed hole or a waste hole, etc., and distinguishing them with different colors to provide operators with better operation prompts.

[0074] The above-mentioned hole position can be a blast hole that the rotary drill needs to operate. In blasting engineering, the rotary drill is usually used to drill large-diameter blast holes, which are used as charging spaces for mining explosives and are an important step in the open-pit mining process.

[0075] The above-mentioned electronic fence can be set according to the actual terrain conditions of the mining site. For dangerous areas such as steep slopes and cliffs, electronic fences can be set up to divide the safe area suitable for drilling operations; the above-mentioned electronic fence can also be set up according to other specific conditions, such as limiting the operating range of the drilling rig through electronic fences, reserving some walking passages for personnel, and avoiding serious safety accidents of crushing operators during the operation of the drilling rig, such as avoiding accidental touching of cables during the operation of the drilling rig.

[0076] The hole position information and electronic fence information can be obtained from the upper system service through the HTTP (Hypertext Transfer Protocol) interface.

[0077] In the above step 104, a three-dimensional orthophoto map is obtained according to the real-scene map.

[0078] The above-mentioned three-dimensional orthophoto map can be a digital orthophoto map, which is an image with map geometric accuracy and image characteristics generated by digital differential correction and mosaic of aerial or space photography through photogrammetry technology. This kind of map not only has the accuracy of a map, but also retains the rich texture information of remote sensing images, and can provide an intuitive and realistic view of the surface landscape.

[0079] In the above step 105, an electronic map is obtained based on the RTK information and model information of the drilling rig, the hole position information, the electronic fence information and the three-dimensional orthophoto map.

[0080] The above-mentioned electronic map can be a three-dimensional orthophoto map loaded with the RTK information and model information of the drilling rig, the hole position information, and the electronic fence information, which can be used as the basis for the drilling rig operation. The drilling rig model, hole position and electronic fence are displayed on the electronic map. When the operator remotely controls the drilling rig operation, he can assist in the operation according to the various information displayed on the electronic map.

[0081] In the above step 106, a prompt message is issued according to the electronic map.

[0082] The above prompt information can be processed based on a comprehensive judgment of various information in the electronic map, and the corresponding prompt information can be triggered in certain scenarios, which can be displayed on the electronic map, such as the hole position alignment prompt information during the drilling operation, and the walking safety prompt information during the drilling operation.

[0083] In some embodiments, the model information of the drilling rig includes RTK information corresponding to a plurality of contour points, and the plurality of contour points constitute a geometric figure corresponding to a contour of the drilling rig;

[0084] Based on the RTK information and model information of the drilling rig, hole location information, electronic fence information and 3D orthophoto map, an electronic map is obtained, including:

[0085] Import the RTK information of the drilling rig and the RTK information corresponding to multiple contour points into the 3D orthophoto map, and draw the geometric model of the drilling rig in the 3D orthophoto map;

[0086] Import the hole position information into the 3D orthophoto map, and draw multiple hole positions where the drilling machine needs to perform drilling actions in the 3D orthophoto map;

[0087] The electronic fence information is imported into the three-dimensional orthophoto map, and the electronic fence is drawn in the three-dimensional orthophoto map to obtain an electronic map.

[0088] In this embodiment, the relevant information of the drilling rig is imported into the map, which solves the pain point of uncertainty about the actual position of the drilling rig in the mine when the drilling rig is remotely operated. The position of the drilling rig can be observed intuitively and clearly, avoiding failures such as the drilling rig falling due to unclear position of the drilling rig during remote operation; the hole position information is imported into the map, which facilitates the drilling rig to accurately drill holes according to the mine drilling and blasting plan, and provides an accurate basis for better completing the mine tasks; the electronic fence information is imported into the map to restrict the drilling rig to move and operate within the specified range. By visualizing the range area specified by the electronic fence on the map, it is easy to observe and can better play a prompt role.

[0089] The electronic fence information may be an electronic fence data set including multiple electronic fence point data, and specifically may include coordinate data of each electronic fence point, and multiple electronic fence points constitute a geometric figure corresponding to the electronic fence.

[0090] The model information of the above-mentioned drilling rig includes RTK information corresponding to multiple contour points. The contour geometry information of the drilling rig and the size information of key components, such as the drill bit and track position, can be obtained, and then the position corresponding to the RTK information of the drilling rig is used as the reference point. The multiple contour points of the drilling rig are determined by the relative coordinates with the reference point, and then the RTK information corresponding to the multiple contour points of the drilling rig is obtained. The RTK information of the corresponding points of the key parts of the drilling rig can also be obtained.

[0091] The RTK information and model information, hole position information, and electronic fence information of the above-mentioned drilling rig can be obtained from the upper system service through the HTTP interface and then imported into the three-dimensional orthophoto map.

[0092] For example, the positioning information and model information of the drilling rig are imported into the three-dimensional orthophoto map, and the geometric model of the drilling rig is drawn in the three-dimensional map model in real time.

[0093] For example, the coordinate set corresponding to the loaded hole position may be in a table XLS (Excel spreadsheet) format or a JSON (JavaScript Object Notation) structure.

[0094] For example, the coordinate set of the hole position can be obtained from the system service through the HTTP interface, and the x, y, z of the coordinate set and the hole position status can be transmitted to the three-dimensional orthophoto map. The map model will classify and identify the hole positions according to the data status provided by the hole position coordinate set and then display them in different colors to distinguish different categories of hole positions.

[0095] For example, the hole data set obtained from the system service using the HTTP interface can obtain and record the status of the hole in addition to the coordinates of the hole. These statuses include the categories of the hole, such as completed holes, waste holes, and supplementary holes added for temporary operations. It can also obtain the drilling depth, hole diameter, whether it is qualified, whether it contains water, etc. of the hole, and provide operators with the freedom to choose to view the hole status to assist remote operation.

[0096] For example, an electronic fence dataset can be obtained from a system service through an HTTP interface. The electronic fence dataset includes coordinate data of multiple electronic fence points. The corresponding geometric figures can be constructed in a three-dimensional map through the coordinate information, thereby loading the electronic fence into a three-dimensional orthophoto map.

[0097] For example, the electronic fence coordinate point set can be imported through file import. The specific file type can be DXF (Drawing Exchange Format), which is convenient for directly exporting the corresponding electronic fence drawings from the computer-aided design software in mine blasthole planning; the electronic fence coordinate point set can also be imported through the software interface, and it supports passing a list of multiple continuous point sets to the system through a JSON structure via an HTTP interface.

[0098] In some implementations, issuing prompt information according to the electronic map includes:

[0099] Get the safety distance threshold of the drilling rig;

[0100] A safety geometric model is obtained according to the safety distance threshold and the geometric model;

[0101] When the safety geometry model intersects with the electronic fence, a collision warning prompt message is issued.

[0102] In this embodiment, the geometric model of the drilling rig is reasonably expanded according to the safety distance threshold of the drilling rig, and then it is determined whether the expanded geometric model is comparable to the electronic fence, thereby realizing the electronic fence collision warning alarm, ensuring the safety of the rotary drill rig and the surrounding environment during operation, and further improving safety protection.

[0103] The above process can be achieved by setting a safety threshold of the rotary drill. According to the safety threshold, the external geometric contour of the rotary drill is expanded outward by a corresponding value. According to the expanded geometric contour and the straight line formed by the electronic fence points, calculation is performed to determine whether each line segment in the expanded vehicle geometric contour intersects with each line segment of the electronic fence. During the solution process, a diagonal line and a fast straddle method are constructed to quickly determine whether the intersection results. As long as there is an intersection result during the solution process, the comparison ends immediately, it is determined that a collision will occur, and an early warning is issued to the system, and a collision warning prompt message is issued. The above prompt message can be displayed on the window displaying the electronic map.

[0104] The above safety thresholds can also be set to multiple levels, corresponding to different levels of safety, and triggering different collision warning prompts. When the drilling rig approaches the electronic fence, the system will give different degrees of warning according to the set thresholds, effectively supporting the rotary drill to work only in the operating area, and solving the dangers of accidentally touching the high-voltage wires in the mining area and falling off the slope due to misoperation.

[0105] In some embodiments, the model information of the drilling rig includes RTK information corresponding to key position points, and the key position points include the drill head position points of the drilling rig;

[0106] According to the electronic map, prompt information is issued, including:

[0107] Get the current hole position RTK information, which is the RTK information of the hole position corresponding to the current drilling action performed by the drilling rig;

[0108] When the deviation between the current hole position RTK information and the RTK information corresponding to the drill head position is within the threshold range, a hole position alignment prompt message is issued.

[0109] In this embodiment, based on the direct visual display of the hole positions in the map and the precise positioning technology, the hole positions can be aligned directly in the electronic map, supporting remote workers to accurately align the holes when performing drilling operations, solving the problem of how to achieve remote hole finding by rotary drills, providing precise digital quantitative support, and achieving more accurate drilling operations.

[0110] The above process can import the coordinates of the hole positions and electronic fences where the drilling rig needs to operate into the electronic map, and after visual display, the remote operator can select the corresponding hole positions, view the actual distance of the vehicle from the selected blast hole and the operation guidance in real time, and thus accurately realize the hole finding and hole alignment operations.

[0111] The deviation between the current hole position RTK information and the RTK information corresponding to the drill head position is within a threshold range, and the hole position can be determined to be aligned only when the deviation between the two is within the threshold range, and an alignment prompt message is issued. The prompt message can be displayed on the window displaying the electronic map.

[0112] Specifically, the standard for hole alignment on the electronic map can be that the deviation between the drill position in the vehicle model and the center position of the hole is within 15 cm, which explicitly reminds the operator to complete the hole. At the same time, alignment on the electronic map can meet the driving habits of the operator, and explicitly remind the operator of the driving direction and distance during the alignment process, so as to better perform remote drilling operations.

[0113] In some implementations, obtaining a real-life map includes:

[0114] Obtain the overall real-life map of the stope;

[0115] Get the RTK area information corresponding to the area displayed in the display window of the overall real-life map of the stope;

[0116] Determine the display zoom ratio based on the RTK area information and the resolution of the display window;

[0117] The real-life map is determined based on the RTK area information, the resolution of the display window, the display zoom ratio and the overall real-life map of the mining site. The real-life map contains RTK information.

[0118] In this embodiment, according to the real-time positioning of the drilling rig, a partial real-scene map around the drilling rig in the overall real-scene map of the mining field is captured, and a suitable resolution of the display window is obtained, so that the operator can observe the map for auxiliary operation.

[0119] The above-mentioned overall real-life map of the mining site can be a real-life map with RTK information of the current mining site obtained by flying a drone with RTK along a planned route.

[0120] After obtaining the RTK area information and resolution information corresponding to the display area in the display window, the location of the real-life image to be transmitted is obtained through the RTK area information, and then the display zoom ratio is determined according to the window resolution size. The real-life map of the current display area is dynamically obtained through the pyramid cutting method in GIS technology.

[0121] In some implementations, according to the real-time positioning of the rotary drill and the required zoom requirements, the real-life maps of different zoom scales are cached in advance in real time in the form of a horizontal space nine-square grid and a vertical zoom three-layer overlay, so as to achieve free zooming of the real-life maps without the user's feeling. It can support remote operators to infinitely zoom the map as needed and support remote operators to view the working environment around the drilling rig.

[0122] In some implementations, obtaining a three-dimensional orthophoto map according to a real-life map includes:

[0123] Based on webGL (Web Graphics Library) technology, the horizontal plane area in the real-life map is used as the horizontal plane anchoring area, and the bird's-eye view directly above the drill bit of the drilling rig is used as the camera view, and a three-dimensional orthophoto map is generated according to the real-life map.

[0124] In this embodiment, webGL technology can be used to obtain a three-dimensional orthophoto model based on a two-dimensional real-life map, thereby obtaining a three-dimensional orthophoto map. Compared with traditional two-dimensional maps, three-dimensional orthophoto maps can intuitively display the three-dimensional features of the surface and provide richer surface information, such as terrain undulations, etc. It has richer information content and more intuitive visual effects, which facilitates a more intuitive understanding and analysis of geographic information.

[0125] The above-mentioned horizontal plane may correspond to the xy plane of the coordinate system where the point coordinates in the real scene are located, and the part directly above the drill bit of the above-mentioned drilling rig may correspond to the part directly above the z-axis.

[0126] In some embodiments, real-time GNSS (Global Navigation Satellite System) positioning information of the rotary drill is obtained, and the positioning information is integrated into an electronic map, and prompt information is sent to the operator based on some status information calibrated by the GNSS positioning information.

[0127] After obtaining the real-time GNSS positioning information of the rotary drill, the differential calculation is performed through the CORS (Continuously Operating Reference Station) base station and satellite signals, and finally the centimeter-level precise positioning information and corresponding status information are obtained, which can be RTK positioning information. These positioning information can include longitude and latitude and geodetic coordinates, and the corresponding status information can be positioning status, orientation status, pitch angle information and roll angle information. If these status information values ​​do not meet the preset status, it is necessary to dynamically prompt the operator whether to stop the operation, and to issue a real-time alarm to the operator to ensure that the operator only works in an environment with correct positioning status.

[0128] Specifically, the positioning state and orientation state of the drilling rig are important parameters used to determine the position and posture of the drilling rig, and are used to indicate whether the current differential geodetic coordinates are valid. The positioning state and orientation state have four states: single point, differential, floating point, and fixed. Only when the positioning state and orientation state are fixed solutions, the positioning information of the rotary drilling rig is correct. Otherwise, the operator will be prompted to indicate abnormal positioning and suspend the operation.

[0129] Specifically, the pitch angle and roll angle of the drilling rig are used to view the important parameters of the rotary drill rig's posture in real time. Remotely observing the real-time pitch and roll angles can ensure that the pitch and roll angles do not exceed the corresponding tipping thresholds during driving, thereby preventing the rotary drill rig from tipping over and overturning.

[0130] For example, when an operator remotely controls a drilling rig to start operation, the following conditions must be met at the same time: the positioning state and the orientation state must be fixed at the same time, the pitch angle must be less than 21°, and the roll angle must be less than 14°; if any of the above conditions is not met, an alarm will be issued to remind the operator to stop the operation.

[0131] By combining the positioning information of the drill rig and the pitch and roll angle information of the drill rig, it can provide accurate real-time reference for the drill rig posture when the drill rig is manually or automatically leveled. Furthermore, when the drill rig is in the walking condition, the current drill bit position information after the drill rig is leveled can be predicted and calculated in real time based on the drill rig position, pitch and roll angle in the electronic map, which makes it easier to perform hole alignment operations on the electronic map.

[0132] The electronic map application method provided in the embodiment of the present application may be executed by the electronic map application device 200. In the embodiment of the present application, the electronic map application device 200 executing the electronic map application method is taken as an example to illustrate the electronic map application device 200 provided in the embodiment of the present application.

[0133] See also Figure 2, is a schematic diagram of the structure of an electronic map application device 200 provided in an embodiment of the present application. Figure 2 As shown, the electronic map application device 200 includes:

[0134] The first acquisition module 201 is used to acquire the RTK information and model information of the drilling rig;

[0135] The second acquisition module 202 is used to acquire a real-scene map, where the real-scene map includes the area portion of the overall real-scene map of the stope displayed in the display window, and the overall real-scene map of the stope carries RTK information;

[0136] The third acquisition module 203 is used to acquire hole position information and electronic fence information, and the drilling machine is used to perform a drilling action according to the hole position information;

[0137] The fourth acquisition module 204 is used to acquire a three-dimensional orthophoto map according to the real scene map;

[0138] The electronic map acquisition module 205 is used to obtain an electronic map based on the RTK information and model information of the drilling rig, the hole position information, the electronic fence information and the three-dimensional orthophoto map;

[0139] The prompt module 206 is used to issue prompt information according to the electronic map.

[0140] In some implementations, the electronic map acquisition module 205 may be used to:

[0141] Based on the RTK information and model information of the drilling rig, hole location information, electronic fence information and 3D orthophoto map, an electronic map is obtained, including:

[0142] Import the RTK information of the drilling rig and the RTK information corresponding to multiple contour points into the 3D orthophoto map, and draw the geometric model of the drilling rig in the 3D orthophoto map;

[0143] Import the hole position information into the 3D orthophoto map, and draw multiple hole positions where the drilling machine needs to perform drilling actions in the 3D orthophoto map;

[0144] The electronic fence information is imported into the three-dimensional orthophoto map, and the electronic fence is drawn in the three-dimensional orthophoto map to obtain an electronic map.

[0145] In some implementations, the prompt module 206 may be used to:

[0146] Get the safety distance threshold of the drilling rig;

[0147] A safety geometric model is obtained according to the safety distance threshold and the geometric model;

[0148] When the safety geometry model intersects with the electronic fence, a collision warning prompt message is issued.

[0149] In some embodiments, the model information of the drilling rig includes RTK information corresponding to key position points, and the key position points include the drill head position points of the drilling rig;

[0150] The prompt module 206 can be used to:

[0151] Get the current hole position RTK information, which is the RTK information of the hole position corresponding to the current drilling action performed by the drilling rig;

[0152] When the deviation between the current hole position RTK information and the RTK information corresponding to the drill head position is within the threshold range, a hole position alignment prompt message is issued.

[0153] In some implementations, the second acquisition module 202 may be used to:

[0154] Obtain the overall real-life map of the stope with RTK information;

[0155] Get the RTK area information corresponding to the area displayed in the display window of the overall real-life map of the stope;

[0156] Determine the display zoom ratio based on the RTK area information and the resolution of the display window;

[0157] The real-life map is determined based on the RTK area information, the resolution of the display window, the display zoom ratio and the overall real-life map of the mining site. The real-life map carries the RTK information.

[0158] In some implementations, the fourth acquisition module 204 may be used to:

[0159] Based on webGL technology, the horizontal plane area in the real-life map is used as the horizontal plane anchoring area, and the bird's-eye view directly above the drill bit of the drilling rig is used as the camera view, and a three-dimensional orthophoto map is generated according to the real-life map.

[0160] Since the electronic map application device 200 adopts all the technical solutions of the electronic map application method of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0161] Figure 3 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0162] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0163] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0164] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0165] In some embodiments, the memory 302 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0166] The processor 301 implements any one of the electronic map application methods in the above embodiments by reading and executing the computer program instructions stored in the memory 302 .

[0167] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0168] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0169] Bus 310 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0170] The electronic device can execute the electronic map application method in the embodiment of the present application, thereby realizing the combination Figure 1 and Figure 2 The electronic map application method and device described.

[0171] An embodiment of the present application may provide a drilling rig, which includes the above-mentioned electronic device.

[0172] In addition, in combination with the electronic map application method in the above embodiment, the present application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any electronic map application method in the above embodiment is implemented.

[0173] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0174] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0175] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0176] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0177] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. An electronic map application method, characterized in that: Applied to drilling rigs, including: Acquire RTK information of the drilling rig and model information of the drilling rig; Acquire a real-scene map, wherein the real-scene map includes the area portion of the overall real-scene map of the stope displayed in the display window, and the overall real-scene map of the stope carries RTK information; Acquiring hole location information and electronic fence information, the drilling machine is used to perform a drilling action according to the hole location information; According to the real-scene map, a three-dimensional orthophoto map is obtained; Obtaining an electronic map according to the RTK information of the drilling rig and the model information, the hole position information, the electronic fence information and the three-dimensional orthophoto map; According to the electronic map, a prompt message is issued.

2. The method according to claim 1, characterized in that The model information of the drilling rig includes RTK information corresponding to a plurality of contour points, and the plurality of contour points constitute a geometric figure corresponding to the contour of the drilling rig; The step of obtaining an electronic map according to the RTK information of the drilling rig and the model information, the hole position information, the electronic fence information and the three-dimensional orthophoto map includes: Importing the RTK information of the drilling rig and the RTK information corresponding to the plurality of contour points into the three-dimensional orthophoto map, and drawing a geometric model of the drilling rig in the three-dimensional orthophoto map; Importing the hole position information into the three-dimensional orthophoto map, and drawing a plurality of hole positions where the drilling machine needs to perform drilling actions in the three-dimensional orthophoto map; The electronic fence information is imported into the three-dimensional orthophoto map, and the electronic fence is drawn in the three-dimensional orthophoto map to obtain the electronic map.

3. The method according to claim 2, characterized in that The issuing of prompt information according to the electronic map includes: Obtaining a safety distance threshold of the drilling rig; Obtaining a safe geometric model according to the safe distance threshold and the geometric model; When the safety geometric model intersects with the electronic fence, a collision warning prompt message is issued.

4. The method according to claim 1 or 3, characterized in that: The model information of the drilling rig includes RTK information corresponding to key position points, and the key position points include the drill head position of the drilling rig; The issuing of prompt information according to the electronic map includes: Acquire current hole position RTK information, where the current hole position RTK information is RTK information of the hole position corresponding to the current drilling action performed by the drilling rig; When the deviation between the current hole position RTK information and the RTK information corresponding to the drill head position is within a threshold range, a hole position alignment prompt message is issued.

5. The method according to claim 1, characterized in that The obtaining of the real scene map comprises: Obtaining an overall real-life map of the stope; Acquire RTK area information corresponding to the area portion of the overall real-life map of the stope displayed in the display window; Determining a display zoom ratio according to the RTK area information and a resolution of the display window; The real-scene map is determined according to the RTK area information, the resolution of the display window, the display zoom ratio and the overall real-scene map of the stope, and the real-scene map carries RTK information.

6. The method according to claim 1, characterized in that The step of obtaining a three-dimensional orthophoto map according to the real scene map includes: Based on the webGL technology, the horizontal plane area in the real-life map is used as the horizontal plane anchoring area, and the top-down perspective directly above the drill bit of the drilling rig is used as the camera perspective, and the three-dimensional orthophoto map is generated according to the real-life map.

7. An electronic map application device, characterized in that: include: A first acquisition module, used for acquiring RTK information of a drilling rig and model information of the drilling rig; A second acquisition module is used to acquire a real-scene map, wherein the real-scene map includes the area portion of the overall real-scene map of the stope displayed in the display window, and the overall real-scene map of the stope carries RTK information; A third acquisition module is used to acquire hole position information and electronic fence information, and the drilling rig is used to perform a drilling action according to the hole position information; A fourth acquisition module is used to acquire a three-dimensional orthophoto map according to the real scene map; An electronic map acquisition module, used to obtain an electronic map according to the RTK information of the drilling rig and the model information, the hole position information, the electronic fence information and the three-dimensional orthophoto map; The prompt module is used to issue prompt information according to the electronic map.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the electronic map application method as described in any one of claims 1 to 6 are implemented.

9. A drilling rig, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the electronic map application method according to any one of claims 1 to 6.

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