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

Abstract

The application discloses an electronic map application method, device, equipment, medium and drilling machine. The method comprises the following steps: acquiring RTK information of the drilling machine and model information of the drilling machine; acquiring a real scene map, wherein the real scene map comprises a regional part of a whole real scene map of a stope displayed in a display window, and the whole real scene map of the stope is provided with the RTK information; acquiring hole position information and electronic fence information, wherein the drilling machine is used for performing a hole drilling action according to the hole position information; acquiring a three-dimensional orthographic map according to the real scene map; obtaining an electronic map according to the RTK information and the model information of the drilling machine, the hole position information, the electronic fence information and the three-dimensional orthographic map; and issuing prompt information according to the electronic map. The application can realize the process of remote operation of the drilling machine 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 mine equipment, and in particular relates to an electronic map application method, device, equipment, medium and drilling machine. BACKGROUND

[0002] Mineral resources are key national strategic resources in China, and the mining industry is a key supporting industry of the national economy. Among them, the perforation and rock drilling of the drilling machine is the first and important link in the production process of non-coal mines. At present, when the surface drilling machine is operating, red plastic bags are placed as hole position markers by manual work at the stope site. However, the drilling machine has a large body, many blind areas, and many hidden dangers of rolling and collision, which are harmful. Manual on-site dispatching control has safety hazards. SUMMARY

[0003] The present application aims to provide an electronic map application method, device, equipment, medium and drilling machine, which can display the positions of the hole, the electronic fence and the drilling machine on the electronic map in real time, and then can realize assisted remote operation to complete accurate drilling based on the electronic map.

[0004] The electronic map application method according to the first aspect of the present application comprises:

[0005] obtaining RTK information of a drilling machine and model information of the drilling machine;

[0006] obtaining a real scene map, the real scene map including a regional part of a whole real scene map of a stope displayed in a display window, the whole real scene map of the stope being provided with RTK information;

[0007] obtaining hole position information and electronic fence information, the drilling machine being used to perform a drilling action according to the hole position information;

[0008] obtaining a three-dimensional orthographic map according to the real scene map;

[0009] obtaining an electronic map according to the RTK information of the drilling machine and the model information, the hole position information, the electronic fence information and the three-dimensional orthographic map;

[0010] issuing a prompt information according to the electronic map.

[0011] According to some embodiments of the present application, the model information of the drilling machine includes RTK information corresponding to a plurality of contour point positions, and a plurality of contour point positions form a geometric figure corresponding to a contour of the drilling machine.

[0012] The obtaining of the electronic map according to the RTK information of the drilling machine and the model information, the hole position information, the electronic fence information and the three-dimensional orthographic map comprises:

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

[0014] introducing the hole information into the three-dimensional orthographic map, and drawing a plurality of holes in which the drilling rig needs to perform a drilling action in the three-dimensional orthographic map;

[0015] introducing the electronic fence information into the three-dimensional orthographic map, and drawing the electronic fence in the three-dimensional orthographic map to obtain the electronic map.

[0016] According to some embodiments of the present application, the prompt information is sent according to the electronic map, including:

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

[0018] obtaining a safety geometric model according to the safety distance threshold and the geometric model;

[0019] in the case where the safety geometric model intersects with the electronic fence, sending a collision warning prompt information.

[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 a drill bit position point of the drilling rig.

[0021] The prompt information is sent according to the electronic map, including:

[0022] obtaining current hole RTK information, the current hole RTK information being RTK information of a hole corresponding to a current drilling action performed by the drilling rig;

[0023] in the case where a deviation between the current hole RTK information and RTK information corresponding to the drill bit position point is within a threshold range, sending a hole alignment prompt information.

[0024] According to some embodiments of the present application, the real scene map is obtained, including:

[0025] obtaining a real scene map of the entire stope;

[0026] obtaining RTK area information corresponding to a region part of the real scene map of the entire stope displayed in the display window;

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

[0028] According to the RTK region information, the resolution of the display window, the display zoom ratio, and the whole real scene map of the mining area, a real scene map with RTK information is determined.

[0029] According to some embodiments of the present application, the three-dimensional orthographic map is obtained according to the real scene map, including:

[0030] According to the webGL technology, a horizontal plane region in the real scene map is taken as a horizontal plane anchor region, a top-down view angle of a drill bit of the drilling rig is taken as a camera view angle, and the three-dimensional orthographic map is generated according to the real scene map.

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

[0032] The first obtaining module is configured to obtain RTK information of a drilling rig and model information of the drilling rig.

[0033] The second obtaining module is configured to obtain a real scene map, the real scene map including a region part of a whole real scene map of a mining area displayed in a display window, the whole real scene map of the mining area having RTK information.

[0034] The third obtaining module is configured to obtain hole site information and electronic fence information, the drilling rig being configured to perform a drilling action according to the hole site information.

[0035] The fourth obtaining module is configured to obtain a three-dimensional orthographic map according to the real scene map.

[0036] The electronic map obtaining module is configured to obtain an electronic map according to the RTK information of the drilling rig and the model information, the hole site information, the electronic fence information, and the three-dimensional orthographic map.

[0037] The prompting module is configured to issue a prompt information according to the electronic map.

[0038] According to the electronic device of the third aspect embodiment of the present application, including a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the electronic map application method of any one of the above second aspect embodiments.

[0039] According to the fourth aspect embodiment of the present application, the drilling rig includes the electronic device of the third aspect embodiment.

[0040] According to the fifth aspect embodiment of the present application, a computer readable storage medium stores computer executable instructions for executing the electronic map application method of the above first aspect embodiment.

[0041] In the embodiments of the present application, by acquiring the positioning information and model information of the drilling rig itself, the hole site information of the drilling rig punching operation required, and the electronic fence information of the area where the drilling rig is restricted to move, and combining with the map information of the stope where the drilling rig is located, the position of the hole site, the electronic fence and the drilling rig can be displayed on the electronic map in real time, the accurate position of the drilling rig and the hole site in the map is determined, the remote operation based on the electronic map can be realized, the accurate punching is completed, and the problems of low accuracy caused by backward hole site marking conditions in the local manual operation process and the safety risk problems in the operation process are avoided.

[0042] Other features and advantages of the present application will be set forth in the description that follows, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

[0047] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0048] In the description of the present application, if there is a description to 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 indicated technical features or the sequence of indicated technical features.

[0049] In the description of the present application, it is understood that the orientation description, such as the orientation or position relationship indicated by up, down, etc., is based on the orientation or position relationship shown in the drawings, only for the purpose of describing the present application and simplifying the description, and is not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0050] It should be noted that in the description of the present application, the words such as setting, installing, connecting and the like should be understood in a broad sense unless otherwise explicitly limited, and the specific meanings of the above words in the present application can be reasonably determined by those skilled in the art in combination with the specific content of the technical solutions.

[0051] The technical solutions of the present application will be described clearly and completely in combination with the accompanying drawings. Obviously, the following described embodiments are part of the embodiments of the present application, not all embodiments.

[0052] Figure 1 The flowchart of the embodiment of the electronic map application method of the embodiment of the present application is provided. The following refers to Figure 1 The embodiment of the present application is further described.

[0053] As Figure 1 shown, the embodiment of the present application provides an electronic map application method, which comprises:

[0054] Step 101, acquiring RTK information of a drilling machine and model information of the drilling machine;

[0055] Step 102, acquiring a real scene map, the real scene map comprising a region part of a whole real scene map of a stope displayed in a display window, the whole real scene map of the stope being provided with RTK information;

[0056] Step 103, acquiring hole site information and electronic fence information, the drilling machine being used to perform a hole drilling action according to the hole site information;

[0057] Step 104, acquiring a three-dimensional orthographic map according to the real scene map;

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

[0059] Step 106, issuing a prompt information according to the electronic map.

[0060] In the embodiment of the present application, by acquiring the drilling machine's own related positioning information and model information, hole site information required for the drilling machine to perform a hole drilling operation and electronic fence information limiting the area where the drilling machine moves, and combining with the map information of the stope where the drilling machine is located, the hole site, the electronic fence and the position of the drilling machine can be displayed on the electronic map in real time, the accurate position of the drilling machine and the hole site in the map is determined, remote operation based on the electronic map can be realized, accurate hole drilling is completed, and the problems of low accuracy caused by backward hole site marking conditions in the local manual operation process and the safety risk problems in the operation process are avoided.

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

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

[0063] The drilling machine can be a drilling machine device with positioning function for hole drilling operation in a mine, and the drilling machine can be a remotely operable drilling machine device. Specifically, the drilling machine can be a roller bit.

[0064] The model information of the drilling machine can be information required for establishing a drilling machine device model on a map, and specifically can include contour geometry information of the drilling machine and size information of key components of the drilling machine.

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

[0066] In step 102, a real scene map is obtained, the real scene map including a regional part of a whole stope real scene map displayed in a display window, the whole stope real scene map having RTK information.

[0067] The whole stope real scene map can facilitate observation of the actual situation of the stope and assist the operator in mastering the situation of the mine area and the surrounding area.

[0068] The display window can be a display window on a visualization software of a remote terminal, and the operator can obtain map information through the display window during remote operation of the drilling machine device, the real scene map can be a regional part of a whole stope real scene map displayed in the display window, and specifically can be a map of a nearby region of the drilling machine device.

[0069] The whole stope real scene map has RTK information, and by integrating the RTK information in the whole stope real scene map, the accurate geographical positioning information corresponding to each point in the map can be provided while the intuitive visual image of the whole stope is displayed.

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

[0071] The hole position information can be hole position information corresponding to the hole drilling action performed by the drilling machine, and the hole position information can include positioning information of the hole position, and specifically can be coordinate information, and the operator can perform accurate hole drilling through the specific coordinate information of the hole position; the hole position information can also include state information of the hole position, and the state information includes the category and other related parameters of the hole position, and the operator can assist remote operation by checking the state information of the hole position.

[0072] For example, the categories of the hole positions can include holes that have been drilled, waste holes, and additional holes for temporary work; and other related parameters of the hole positions can include the depth of the hole positions, the hole diameters, the qualification conditions, and the water content conditions, etc.

[0073] For example, the hole position coordinates can be distinguished according to whether the hole positions are drilled, waste holes, etc., and different colors can be used to distinguish the hole positions according to the drilling conditions, so as to provide better operation prompts for the operators.

[0074] The hole positions can be blast holes that need to be drilled by the rotary drilling machine. In the blasting engineering, the rotary drilling machine is usually used to drill large-diameter blast holes, which are the charging space of the mining explosive and are an important step in the mining process of the open-pit mine.

[0075] The electronic fence can be used to divide a safe area suitable for the drilling machine operation according to the actual topography of the stope, such as a dangerous area with a steep slope or a cliff; and the electronic fence can also be set according to other specific conditions, such as limiting the operation range of the drilling machine, reserving a part of the personnel walking channel, and avoiding serious safety accidents such as crushing the operators during the movement of the drilling machine, or avoiding the accidental contact with the cable during the movement of the drilling machine.

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

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

[0078] The three-dimensional orthographic map can be a digital orthographic image map, which is generated by using photogrammetry technology to digitally differentiate, correct, and mosaic the aerial or space photographs, and has the geometric accuracy of the map and the image features. Such a map not only has the accuracy of the map, but also retains the rich texture information of the remote sensing image, and can provide an intuitive and realistic view of the ground landscape.

[0079] In step 105, an electronic map is obtained according to the RTK information and the model information of the drilling machine, the hole position information, the electronic fence information, and the three-dimensional orthographic map.

[0080] The electronic map can be a three-dimensional orthographic map loaded with the RTK information and the model information of the drilling machine, the hole position information, and the electronic fence information, and can be used as a basis for the drilling machine operation. The drilling machine model, the hole positions, and the electronic fence are displayed on the electronic map, and the operators can assist in the operation when remotely controlling the drilling machine operation according to the various information displayed on the electronic map.

[0081] In step 106, a prompt information is sent according to the electronic map.

[0082] The prompt information can be obtained according to comprehensive judgment and processing of various information in the electronic map, and corresponding prompt information can be triggered in a certain scene, and can be displayed on the electronic map, such as hole position alignment prompt information during drilling rig drilling operation and walking safety prompt information during drilling rig walking process.

[0083] In some embodiments, the model information of the drilling rig includes RTK information corresponding to a plurality of contour point positions, and the plurality of contour point positions form a geometric figure corresponding to the contour of the drilling rig.

[0084] According to the RTK information and the model information of the drilling rig, the hole position information, the electronic fence information and the three-dimensional orthographic map, an electronic map is obtained, including:

[0085] The RTK information of the drilling rig and the RTK information corresponding to the plurality of contour point positions are imported into the three-dimensional orthographic map, and a geometric model of the drilling rig is drawn in the three-dimensional orthographic map.

[0086] The hole position information is imported into the three-dimensional orthographic map, and a plurality of hole positions to be drilled by the drilling rig are drawn in the three-dimensional orthographic map.

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

[0088] In the embodiment, the related information of the drilling rig is imported into the map, which solves the pain point that the actual position of the drilling rig in the stope is uncertain when the drilling rig is remotely operated, and the position of the drilling rig can be observed intuitively and clearly, avoiding drilling rig falling and other faults caused by unclear drilling rig position during remote operation; the hole position information is imported into the map, which facilitates the drilling rig to drill according to the stope drilling and blasting plan, and accurately drills holes, providing accurate basis for better completion of the stope task; the electronic fence information is imported into the map, which limits the walking and operation of the drilling rig within the specified range, and the range area specified by the electronic fence is visualized in the map, which is convenient for observation and can better play a prompting role.

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

[0090] The model information of the drilling rig includes RTK information corresponding to a plurality of contour point positions, which can be obtained by obtaining contour geometric information of the drilling rig and size information of key parts such as drill bit and track position, and then taking the position corresponding to the RTK information of the drilling rig as a reference point, and the plurality of contour point positions of the drilling rig are determined by the relative coordinates of the reference point, and then the RTK information corresponding to the plurality of contour point positions of the drilling rig is obtained, and the RTK information of the corresponding point positions 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 drilling rig can be obtained from a system service through an HTTP interface and then imported into the three-dimensional orthographic map.

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

[0093] For example, the coordinate set corresponding to the hole position can be in the form of an XLS (Excel spreadsheet) table 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 an HTTP interface, and the x, y, z, and hole position state of the coordinate set are transmitted to the three-dimensional orthographic map. The map model can classify and identify the hole position according to the data state provided by the hole position coordinate set, and then display the hole position in different colors to distinguish different categories of hole positions.

[0095] For example, the hole position dataset obtained from the system service through the HTTP interface can obtain and record the state of the hole position in addition to the coordinates of the hole position. The states include the category of the hole position, such as a completed hole, a waste hole, and a temporary operation added supplementary hole. The dataset can also obtain the footage depth, hole diameter, whether it is qualified, whether it contains water, and the like of the hole position, and provide the hole position state for the operator to freely select and view to assist remote operation.

[0096] For example, the electronic fence dataset can be obtained from the system service through an HTTP interface. The electronic fence dataset includes coordinate data of multiple electronic fence points, and the corresponding geometric figure can be constructed in the three-dimensional map through the coordinate information to load the electronic fence into the three-dimensional orthographic 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 drawing from the computer-aided design software in the mine blast hole planning. The electronic fence coordinate point set can also be imported through a software interface. The software interface supports transmitting a list of multiple continuous point sets to the system through a JSON structure in the form of an HTTP interface.

[0098] In some embodiments, according to the electronic map, a prompt information is issued, including:

[0099] A safety distance threshold of the drilling rig is obtained;

[0100] According to the safety distance threshold and the geometric model, a safety geometric model is obtained;

[0101] In the case of intersection between the safety geometric model and the electronic fence, a collision warning prompt information is sent.

[0102] In this embodiment, according to the safety distance threshold of the drilling rig, the geometric model of the drilling rig is reasonably inflated, and then it is judged whether the inflated geometric model intersects with the electronic fence, and further the electronic fence collision warning alarm is realized, so as to ensure the safety of the rotary drilling rig during operation and the surrounding environment, and further improve the safety guarantee.

[0103] The above process can be realized by setting the safety threshold of the rotary drilling rig, inflating the external geometric contour of the rotary drilling rig by a corresponding value according to the safety threshold, calculating according to the straight line formed by the inflated geometric contour and the electronic fence point, and solving whether each line segment of the inflated vehicle geometric contour intersects with each line segment of the electronic fence. In the solving process, the diagonal line and the fast cross method are constructed to quickly obtain the intersection result. As long as there is an intersection result in the solving process, the comparison is immediately ended, it is determined that a collision will occur, a warning is sent to the system, and a collision warning prompt information is sent. The above prompt information can be displayed on the window of the display electronic map.

[0104] The above safety threshold can also be set to multiple, corresponding to different levels of safety levels, and triggering different collision warning prompts. When the drilling rig approaches the electronic fence, the system will give different degrees of alarm according to the set different thresholds, effectively supporting the rotary drilling rig to work only in the working area, and solving the problems of accidental touch of the high-voltage power line in the mining field and accidental operation falling down the slope.

[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 a drill bit position point of the drilling rig.

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

[0107] The current hole RTK information is obtained, which is the RTK information of the hole corresponding to the current drilling action of the drilling rig;

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

[0109] In this embodiment, based on the direct display of the visualization of the hole position in the map and the accurate positioning technology, the hole position alignment can be directly performed in the electronic map, the remote operator can accurately align the holes when performing the drilling operation, the problem of how to realize the remote hole searching of the rotary drill is solved, the accurate digital quantitative support is provided, and more accurate drilling operation is realized.

[0110] After the hole position coordinates required by the drilling rig and the electronic fence coordinates are imported into the electronic map and visually displayed, the remote operator can select the corresponding hole position to real-time view the actual distance between the vehicle and the selected blast hole and the operation guidance, and then accurately realize the hole searching and aligning operation.

[0111] The deviation between the current hole position RTK information and the RTK information corresponding to the drill bit position is within the threshold range, which can be that the deviation between the two is within the threshold range to determine that the hole is aligned, and the alignment prompt information is issued. The above-mentioned prompt information can be displayed on the window displaying the electronic map.

[0112] Specifically, the standard of the electronic map hole alignment can be that the deviation between the drill bit position in the vehicle model and the center position of the hole position is within 15 cm, that is, the operator is explicitly reminded to complete the hole alignment. At the same time, the alignment is performed on the electronic map, which can be consistent with the driving habit of the operator, and the driving direction and distance of the operator are explicitly reminded during the alignment walking process, so that the remote drilling operation is better performed.

[0113] In some embodiments, the real scene map is obtained, including:

[0114] Obtaining the whole real scene map of the stope;

[0115] Obtaining the RTK area information corresponding to the area part of the whole real scene map of the stope displayed in the display window;

[0116] According to the RTK area information and the resolution of the display window, the display zoom ratio is determined;

[0117] According to the RTK area information, the resolution of the display window, the display zoom ratio and the whole real scene map of the stope, the real scene map is determined, and the real scene map has RTK information.

[0118] In this embodiment, according to the real-time positioning of the drilling rig, the part of the real scene map around the drilling rig in the whole real scene map of the stope is captured, and the appropriate resolution of the display window is obtained, which is convenient for the operator to observe the map for auxiliary operation.

[0119] The above-mentioned whole real scene map of the stope can be a real scene map with RTK information of the current stope obtained by the unmanned aerial vehicle with RTK flying according to the planned route.

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

[0121] In some embodiments, according to the real-time positioning of the roller bit rig and the required zooming requirement, the real scene map of different zooming scales is pre-cached in a horizontal spatial nine-square grid manner and a vertical three-layer superposition in real time, so as to realize direct user-free real scene map free zooming. Remote operators can zoom the map as needed, and remote operators can view the working environment around the rig.

[0122] In some embodiments, according to the real scene map, a three-dimensional orthographic map is obtained, including:

[0123] Based on the webGL (Web Graphics Library) technology, the horizontal plane area in the real scene map is used as the horizontal plane anchor area, the top view angle of the bit part of the rig is used as the camera view angle, and the three-dimensional orthographic map is generated according to the real scene map.

[0124] In the embodiment, the webGL technology can be used to obtain the three-dimensional orthographic model according to the two-dimensional real scene map, and obtain the three-dimensional orthographic map. Compared with the traditional two-dimensional map, the three-dimensional orthographic map can intuitively show the three-dimensional features of the ground surface, provide more rich ground surface information such as terrain undulation, and has more rich information content and more intuitive visual effect, which is convenient for more intuitive understanding and analysis of geographic information.

[0125] The horizontal plane can correspond to the x-y plane of the coordinate system in which the point coordinate in the real scene map is located, and the top of the bit part of the rig can correspond to the top of the z-axis.

[0126] In some embodiments, the real-time GNSS (Global Navigation Satellite System) positioning information of the roller bit rig is obtained, and the positioning information is fused into the electronic map. According to some state information calibrated by the GNSS positioning information, prompt information is sent to the operator.

[0127] By acquiring real-time GNSS positioning information of the rotary drill, performing differential calculation through a CORS (Continuously Operating Reference Station) base station and satellite signals, and finally obtaining centimeter-level accurate positioning information and corresponding state information, RTK positioning information can be obtained. The positioning information can include longitude and latitude and geodetic coordinates, and the corresponding state information can include positioning state, orientation state, pitch angle information, and roll angle information. If the state information values do not meet the preset state, the operator needs to be dynamically prompted whether to stop the operation, and real-time warning is performed to ensure that the operator works only in the correct environment.

[0128] Specifically, the positioning state and the orientation state of the drill are important parameters for determining the pose of the drill, and are respectively used to indicate whether the obtained geodetic coordinates are valid. The positioning state and the orientation state each have four states: single point, differential, floating point, and fixed. Only when the positioning state and the orientation state are fixed solutions, the obtained positioning information of the rotary drill is correct, otherwise, the operator is prompted to stop the operation.

[0129] Specifically, the pitch angle and the roll angle of the drill are used to view the important parameters of the pose of the rotary drill in real time, and the real-time pitch angle and the real-time roll angle are remotely observed. When driving, it is ensured that the pitch angle and the roll angle do not exceed the corresponding tipping threshold, thereby preventing the rotary drill from tipping and rolling.

[0130] For example, the operator remotely controls the drill to start the operation, which needs to meet the following conditions at the same time: the positioning state and the orientation state need to be fixed solutions at the same time, and the pitch angle is less than 21°, and the roll angle is less than 14°; if any of the above conditions is not met, an alarm prompt is issued to remind the operator to stop the operation.

[0131] By combining the positioning information of the drill and the pitch angle and the roll angle information of the drill, accurate drill pose real-time reference can be provided for manual or automatic leveling of the drill. Further, in the walking working condition of the drill, according to the drill position, the pitch angle, and the roll angle in the electronic map, the position information of the drill bit after leveling is calculated in real time, and then the hole operation on the electronic map is facilitated.

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

[0133] Please refer to Figure 2FIG. 1 is a structural schematic diagram of an electronic map application device 200 provided by an embodiment of the present application. As shown in FIG. 1, the electronic map application device 200 comprises: Figure 2

[0134] A first obtaining module 201 is configured to obtain RTK information of a drilling rig and model information of the drilling rig.

[0135] A second obtaining module 202 is configured to obtain a real scene map, the real scene map comprising a region part of a whole real scene map of a stope displayed in a display window, the whole real scene map of the stope being provided with the RTK information.

[0136] A third obtaining module 203 is configured to obtain hole site information and electronic fence information, the drilling rig being configured to perform a drilling action according to the hole site information.

[0137] A fourth obtaining module 204 is configured to obtain a three-dimensional orthographic map according to the real scene map.

[0138] An electronic map obtaining module 205 is configured to obtain an electronic map according to the RTK information and the model information of the drilling rig, the hole site information, the electronic fence information and the three-dimensional orthographic map.

[0139] A prompting module 206 is configured to issue a prompt information according to the electronic map.

[0140] In some embodiments, the electronic map obtaining module 205 can be configured to:

[0141] obtain the electronic map according to the RTK information and the model information of the drilling rig, the hole site information, the electronic fence information and the three-dimensional orthographic map, comprising:

[0142] import the RTK information of the drilling rig and RTK information corresponding to a plurality of contour points into the three-dimensional orthographic map, and draw a geometric model of the drilling rig in the three-dimensional orthographic map;

[0143] import the hole site information into the three-dimensional orthographic map, and draw a plurality of hole sites in which the drilling rig needs to perform the drilling action in the three-dimensional orthographic map;

[0144] import the electronic fence information into the three-dimensional orthographic map, and draw the electronic fence in the three-dimensional orthographic map to obtain the electronic map.

[0145] In some embodiments, the prompting module 206 can be configured to:

[0146] obtain a safety distance threshold of the drilling rig;

[0147] obtain a safety geometric model according to the safety distance threshold and the geometric model;

[0148] issue a collision warning prompt information in a case where the safety geometric model intersects with the electronic fence. ​

[0149] In some embodiments, the model information of the drilling rig comprises RTK information corresponding to a key site point, and the key site point comprises a drill bit site point of the drilling rig.

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

[0151] obtaining current hole site RTK information, the current hole site RTK information being RTK information of a hole site corresponding to a current drilling action performed by the drilling rig;

[0152] when a deviation between the current hole site RTK information and RTK information corresponding to the drill bit site point is within a threshold range, issuing hole site alignment prompt information.

[0153] In some embodiments, the second obtaining module 202 can be used for:

[0154] obtaining a whole stope real scene map with RTK information;

[0155] obtaining RTK area information corresponding to a region part of the whole stope real scene map displayed in a display window;

[0156] determining a display zooming factor according to the RTK area information and a resolution of the display window;

[0157] determining a real scene map with RTK information according to the RTK area information, the resolution of the display window, the display zooming factor, and the whole stope real scene map.

[0158] In some embodiments, the fourth obtaining module 204 can be used for:

[0159] generating a three-dimensional orthographic map according to the real scene map, by taking a horizontal plane region in the real scene map as a horizontal plane anchor region, taking a top-down perspective view directly above a drill bit site of the drilling rig as a camera perspective view, and based on a webGL technology.

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

[0161] Figure 3 A hardware structure schematic diagram of an electronic device provided by the embodiments of the present application is provided.

[0162] The electronic device can include a processor 301 and a memory 302 having stored computer program instructions.

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

[0164] The memory 302 can include mass storage for data or instructions. By way of example, and not limitation, the memory 302 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a CD or Blu-ray Disc), a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The memory 302 can be removable and / or built-in (or fixed) where appropriate. The memory 302 can be internal or external to the integrated gateway disaster recovery device, where appropriate. In certain embodiments, the memory 302 is nonvolatile, solid-state memory.

[0165] In some embodiments, the memory 302 can include read-only memory (ROM), random-access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, 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 that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.

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

[0167] In one example, the electronic device can further include a communication interface 303 and a bus 310. As shown, the processor 301, the memory 302, and the communication interface 303 are connected through the bus 310 and complete communication therebetween. Figure 3

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

[0169] ​Bus 310 includes hardware, software, or both, to couple components of the online data traffic metering device to each other and to couple components to other components within the online data traffic metering device. While bus 310 is shown for the sake of clarity as a single bus, bus 310 can include one or more buses operating together, serially, in parallel, etc. Bus 310 can include any suitable bus or interconnect, including a memory bus, a peripheral bus, an external bus, a serial bus, a parallel bus, etc. or a combination of one or more of the above. Bus 310 can include any suitable bus or interconnect, including an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infineon

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

[0171] The embodiments of the present application can provide a drilling rig, which comprises the electronic device described above.

[0172] In addition, in combination with the electronic map application method in the above embodiments, the embodiments of the present application can provide a computer storage medium to realize. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to realize any one of the electronic map application methods in the above embodiments.

[0173] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are 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 steps, after understanding the spirit of the present application.

[0174] The functions noted in the description of the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they 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 program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, Intranet, etc.

[0175] It is also important to note that the examples mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the steps mentioned in the examples, that is, the steps can be performed in the order mentioned in the examples, or in a different order from the examples, or several steps can be performed simultaneously.

[0176] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0177] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An electronic map application method characterized by, Applied to a drilling machine, comprising: obtaining RTK information of the drilling machine and model information of the drilling machine, wherein the model information comprises 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 machine; obtaining a real scene map, wherein the real scene map comprises a regional part of a whole real scene map of a stope displayed in a display window, and the whole real scene map of the stope is provided with RTK information; obtaining hole site information and electronic fence information, and the drilling machine is used to perform a drilling action according to the hole site information; obtaining a three-dimensional orthographic map according to the real scene map; obtaining an electronic map according to the RTK information of the drilling machine, the model information, the hole site information, the electronic fence information and the three-dimensional orthographic map; issuing a prompt information according to the electronic map; wherein the obtaining of the electronic map according to the RTK information of the drilling machine, the model information, the hole site information, the electronic fence information and the three-dimensional orthographic map comprises: introducing the RTK information of the drilling machine and the RTK information corresponding to the plurality of contour points into the three-dimensional orthographic map, and drawing a geometric model of the drilling machine in the three-dimensional orthographic map; introducing the hole site information into the three-dimensional orthographic map, and drawing a plurality of hole sites requiring the drilling machine to perform a drilling action in the three-dimensional orthographic map; introducing the electronic fence information into the three-dimensional orthographic map, and drawing the electronic fence in the three-dimensional orthographic map to obtain the electronic map.

2. The method of claim 1, wherein, the issuing of the prompt information according to the electronic map comprises: obtaining a safety distance threshold of the drilling machine; obtaining a safety geometric model according to the safety distance threshold and the geometric model; in the case where the safety geometric model intersects with the electronic fence, issuing a collision warning prompt information.

3. The method according to claim 1 or 2, characterized in that, the model information of the drilling machine comprises RTK information corresponding to a key part point, and the key part point comprises a drill bit part point of the drilling machine; the issuing of the prompt information according to the electronic map comprises: obtaining current hole site RTK information, which is RTK information of a hole site corresponding to a current drilling action performed by the drilling machine; in the case where a deviation between the current hole site RTK information and RTK information corresponding to the drill bit part point is within a threshold range, issuing a hole site alignment prompt information.

4. The method of claim 1, wherein, the obtaining of the real scene map comprises: obtaining the whole real scene map of the stope; obtaining RTK regional information corresponding to a regional part of the whole real scene map of the stope displayed in the display window; determining a display zooming multiple according to the RTK regional information and a resolution of the display window; determining the real scene map according to the RTK regional information, the resolution of the display window, the display zooming multiple and the whole real scene map of the stope, wherein the real scene map is provided with RTK information.

5. The method of claim 1, wherein, the obtaining of the three-dimensional orthographic map according to the real scene map comprises: According to the webGL technology, a horizontal plane region in the real scene map is taken as a horizontal plane anchor region, a top-down view angle of a drill bit position of the drilling rig is taken as a camera view angle, and the three-dimensional orthographic map is generated according to the real scene map.

6. An electronic map application device, characterized by The electronic map application method is applied to the electronic map application method in any one of claims 1 to 5, and comprises: a first obtaining module configured to obtain RTK information of a drilling rig and model information of the drilling rig; a second obtaining module configured to obtain a real scene map, the real scene map comprising a region part of a whole real scene map of a stope displayed in a display window, the whole real scene map of the stope being provided with RTK information; a third obtaining module configured to obtain hole site information and electronic fence information, the drilling rig being configured to perform a hole drilling action according to the hole site information; a fourth obtaining module configured to obtain a three-dimensional orthographic map according to the real scene map; an electronic map obtaining module configured to obtain an electronic map according to the RTK information of the drilling rig, the model information, the hole site information, the electronic fence information and the three-dimensional orthographic map; a prompting module configured to issue a prompt information according to the electronic map.

7. An electronic device, comprising: The electronic device comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the electronic map application method in any one of claims 1 to 5.

8. A rig characterized by, The electronic device comprises the electronic device in claim 7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to execute the electronic map application method in any one of claims 1 to 5.

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