Strip mine electric shovel fullness rate identification method, device and system based on manual marking

Abstract

The invention relates to the technical field of non-contact measurement, in particular to a method, a device and a system for identifying the fullness rate of an electric shovel for a strip mine based on manual marking. Due to the fact that an interval exists between every two adjacent shovel teeth, when laser is projected to the shovel teeth, the marking lines are divided into line segments due to the existence of the intervals, and when the bucket is fully loaded, the shovel teeth located on the edge of the bucket and the intervals between the shovel teeth enable the marking lines to be projected into the line segments different in length due to stacked materials. Whether the bucket is fully loaded at the moment can be obtained by comparing the difference value of the line segment number of the marking line after no-load and loading. Compared with a traditional method that the whole bucket and the material surface are collected, then a three-dimensional model is established, and the material volume is calculated, the calculation amount is greatly reduced. The identified objects are no longer materials and the bucket, but clear laser can be displayed in severe weather and dust environment, so that the stability and the accuracy of the measurement and calculation of the bucket fullness rate are effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of non-contact measurement technology, and in particular to a method, device and system for identifying the full bucket rate of an open-pit mine electric shovel based on artificial marking. Background Art

[0002] The application of 5G technology in the mining industry has gradually been launched, promoting the transformation of mines to digitalization and intelligence. In this wave of digitalization, people have gradually applied some intelligent monitoring methods to open-pit mining equipment to ensure the production efficiency of mining.

[0003] Among them, the operating efficiency of the electric shovel, one of the core equipment in mining, has always been the focus of people's attention, and one of the important indicators to measure its operating efficiency is the "full bucket rate". Before the digital transformation, people often relied on manual experience or naked eye observation to judge, record and calculate the full bucket rate. This traditional judgment method is undoubtedly inefficient and vague, and it is difficult to achieve accurate feedback on the full bucket rate.

[0004] However, with the advent of the digital age, some mines have introduced a non-contact full bucket rate automatic detection system based on visual recognition technology in order to improve the operating efficiency of electric shovels. The specific detection steps are as follows: 1. The system first identifies the outer contour image model information and structural information of the bucket when it is empty and full at different positions; 2. Obtain the complete image information of the full bucket's outer contour, perform point set registration on the empty bucket 3D model point set and the full bucket 3D model point set, and merge the empty bucket 3D model point set with the full bucket 3D model point set to obtain two surface data information including the bucket's inner surface and the upper surface of the material in the bucket; 3. Then the volume of the material in the bucket is obtained through an algorithm, and finally the volume of the material in the bucket is divided by the rated capacity of the bucket to obtain the loader bucket full rate.

[0005] The above digital detection method improves the efficiency and accuracy of measurement compared to traditional manual measurement. However, in actual operation, the accuracy and performance of visual recognition technology are often affected by the quality of image acquisition, and the lighting environment in the mining area changes frequently. In addition, due to the problem of mineral powder adhesion, it is often difficult to distinguish between ore and the background of the bucket and ore pile. This affects the quality of image acquisition and the accuracy of the recognition algorithm, resulting in a significant reduction in the effectiveness of visual recognition technology in practical applications. Therefore, there is an urgent need and necessity to improve the quality of image acquisition, reduce environmental impact, and improve the rationality of the algorithm.

[0006] In view of this, in order to improve the above technical problems, the present invention provides a method, device and system for identifying the full bucket rate of an open-pit mining electric shovel based on manual marking. Summary of the invention

[0007] In a first aspect, the present invention provides a device for identifying the full bucket rate of an open-pit mining electric shovel based on manual marking. It includes a light source and an industrial camera installed at one end of the big arm close to the sky wheel; The light source is projected downwards and forms a marking line on the bucket and the teeth of the shovel; The industrial camera is used to collect image information of the bucket and the shovel teeth; A data processor, wherein the signal input end of the data processor is connected to the industrial camera, and is used for receiving the image information collected by the industrial camera, and identifying the number of marked line segments marked on the shovel teeth in the image information through image recognition technology, and comparing it with the pre-stored image information of the empty bucket, to obtain the difference in the number of marked line segments before and after loading, thereby judging whether the bucket is full this time.

[0008] Preferably, a ranging radar, which is also installed on the boom and located near the industrial camera, is used to measure the distance between the bucket and the industrial camera in real time, and is provided with a critical distance A1; A Hall magnetic sensor, which is installed at the bucket joystick and is used to collect movement information of the electric shovel bucket joystick; A GPS position sensor, the GPS position sensor is located outside the bucket, used to obtain the height of the bucket compared to the horizontal ground in real time, and is set with a preset height A2; A controller, wherein the signal input end of the controller is connected to the ranging radar, the Hall magnetic sensor, and the GPS position sensor; the signal output end of the controller is connected to the industrial camera; the controller is configured to trigger the industrial camera to take pictures of the bucket and the shovel teeth when the distance between the bucket and the industrial camera is less than a critical distance A1, the bucket height is greater than a preset height A2, and the bucket joystick is in an unloading operation state.

[0009] Preferably, the laser wavelength emitted by the light source is 515 nm.

[0010] Preferably, the critical distance A1 and the preset height A2 are both measured values ​​when the bucket is about to unload.

[0011] In a second aspect, the present invention provides a method for identifying a full bucket rate of an open-pit mine electric shovel based on manual markings, wherein the method for identifying a full bucket rate of an open-pit mine electric shovel based on manual markings adopts the above-mentioned device for identifying a full bucket rate of an open-pit mine electric shovel based on manual markings, and is characterized in that: Step 101: a light source is arranged at one end of the boom close to the sky wheel, and a laser line is marked on the bucket and the shovel teeth by using the light source to form a marking line; Step 102: Install a ranging radar and an industrial camera near the light source, measure the distance between the industrial camera and the bucket in real time through the ranging radar, and set a critical distance A1; install a GPS position sensor on the outer surface of the bucket to obtain the real-time height of the bucket compared to the horizontal ground, and set a preset height A2; install a Hall magnetic sensor on the joystick in the cab to collect the movement information of the joystick in real time; Step 103: the ranging radar sends the distance information between the industrial camera and the bucket, the real-time distance information of the bucket compared to the horizontal ground, and the Hall magnetic sensor sends the action information of the joystick to the controller. When the controller simultaneously detects that the distance between the bucket and the industrial camera is less than the critical distance A1, the bucket height is greater than the preset height A2, and the bucket joystick is in the unloading operation state, the industrial camera is triggered to take pictures of the bucket and the shovel teeth, and then collects the image information of the bucket at this time point or state and sends it to the data processor; Step 104: After receiving the image information captured by the industrial camera, the data processor uses image recognition technology to capture the marking line in the image information, obtains the number of segments of the marking line, and compares it with the number of marking line segments extracted from the pre-stored empty bucket image information to obtain the difference in the number of marking line segments before and after the bucket is loaded, thereby determining whether the bucket is full this time, and calculating the full bucket rate.

[0012] Preferably, the judgment rule for whether the bucket is full in step 104 is: when the difference in the number of marked line segments before and after the bucket is loaded is greater than 2, it indicates that the bucket is fully loaded; when the difference in the number of marked line segments before and after the bucket is loaded is less than 2, it is judged that the loading amount of this action is insufficient.

[0013] Preferably, the difference in the number of marked line segments is equal to the number of marked line segments extracted from the image information when the bucket is empty minus the number of marked line segments extracted from the image information when the bucket is loaded.

[0014] In a third aspect, the present invention provides a system for identifying the full bucket rate of an open-pit mine electric shovel based on manual marking, which includes: the above-mentioned device for identifying the full bucket rate of an open-pit mine electric shovel based on manual marking.

[0015] The beneficial effects of the present invention are: 1. The present invention first uses laser to mark on the shovel teeth. Because there is a gap between two adjacent shovel teeth, when the laser is projected on the shovel teeth, the marking line will be divided into segments due to the existence of the gap. When the bucket is fully loaded, the shovel teeth at the edge of the bucket and the gap between the shovel teeth will be projected into segments of different lengths due to the piled materials. By comparing the difference in the number of marking line segments after emptying and loading, it can be obtained whether the bucket is fully loaded at this time.

[0016] Compared with the traditional method of collecting image information of the entire bucket and the surface of the material, and then building a three-dimensional model to calculate the volume of the material, this single detection method of identifying the number of line segments from a two-dimensional level greatly reduces the amount of calculation. In addition, the object of the present invention is no longer the material and the bucket itself, but a laser that can be clearly displayed in bad weather and dusty environments, which effectively ensures the adaptability, stability and accuracy of the full bucket rate calculation.

[0017] 2. The main hardware equipment of the present invention is industrial standard products such as light source, industrial camera, ranging radar, Hall magnetic sensor, etc. They can be easily arranged on the electric shovel truck that needs to be detected without changing any structure of the existing electric shovel equipment, making the promotion and use cost of the entire detection equipment and detection method lower and the deployment and use more convenient.

[0018] 3. The present invention monitors the real-time status of the bucket through GPS position sensors, ranging radars, and Hall magnetic sensors, and triggers the timing of the industrial camera to take pictures through monitoring data, so that the industrial camera is not in real-time working state, but only captures a small amount of instantaneous images at the moment when the bucket is unloading ore. The image acquisition is fast, accurate, and small, which not only ensures the accuracy of image acquisition and then the accuracy of full bucket rate calculation, but also reduces the amount of image recognition calculation, ensuring that the entire measurement system can run smoothly and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the deployment of the main hardware of the present invention; Figure 2 It is a schematic flow chart of the method for identifying full bucket rate of the present invention.

[0020] The above drawings include the following reference numerals: 1. Boom; 2. Head wheel; 3. Light source; 4. Industrial camera; 5. Bucket; 6. Shovel teeth; 7. Distance measuring radar; 8. GPS position sensor. DETAILED DESCRIPTION

[0021] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0022] Embodiment 1: like Figure 1 As shown, the first embodiment proposes a device for identifying the full bucket rate of an open-pit mining electric shovel based on manual marking, including a light source 3 and an industrial camera 4 installed at one end of a boom 1 close to a sheave 2; The light source 3 projects downwards and forms a marking line on the bucket 5 and the shovel teeth 6; The industrial camera 4 is used to collect image information of the bucket 5 and the shovel teeth 6; A data processor, wherein the signal input end of the data processor is connected to the industrial camera 4, for receiving the image information collected by the industrial camera 4, and identifying the number of marked line segments marked on the shovel teeth 6 in the image information through image recognition technology, and comparing it with the pre-stored image information of the empty bucket 5, to obtain the difference in the number of marked line segments before and after loading, thereby judging whether the bucket 5 is full this time.

[0023] The identification device also includes: A distance measuring radar 7, which is also installed on the boom 1 and is located near the industrial camera 4. The distance measuring radar 7 is used to measure the distance between the bucket 5 and the industrial camera 4 in real time, and a critical distance A1 is set; A Hall magnetic sensor, which is installed at the bucket 5 joystick and is used to collect movement information of the shovel bucket 5 joystick; A GPS position sensor 8, which is located outside the bucket 5 and is used to obtain the height of the bucket 5 relative to the horizontal ground in real time and is set with a preset height A2; A controller, wherein the signal input end of the controller is connected to the ranging radar 7, the Hall magnetic sensor, and the GPS position sensor 8; the signal output end of the controller is connected to the industrial camera 4; the controller is configured to trigger the industrial camera 4 to take pictures of the bucket 5 and the shovel teeth 6 when the distance between the bucket 5 and the industrial camera 4 is less than the critical distance A1, the height of the bucket 5 is greater than the preset height A2, and the bucket 5 joystick is in the unloading operation state.

[0024] The wavelength of the laser emitted by the light source 3 is 515 nm.

[0025] The critical distance A1 and the preset height A2 are both measured values ​​when the bucket 5 is about to unload.

[0026] According to the detection requirements, the engineers can install the light source 3, ranging radar 7, Hall magnetic sensor, GPS position sensor 8 and industrial camera 4, which are already available on the market, on the electric shovel and form a network. Among them, the light source 3, ranging radar 7 and industrial camera 4 are installed on the end of the arm 1 of the electric shovel close to the sheave 2, so that both the industrial camera 4 and the light source 3 can use the height of the end of the arm 1 to obtain a good projection angle and capture field of view of the bucket 5 under the arm 1, thereby ensuring the accuracy of image collection.

[0027] As is known to all, in order to ensure the shoveling efficiency of the bucket 5, the edge of the existing electric shovel bucket 5 will extend outward with shovel teeth 6 arranged at intervals. When the bucket 5 is unloaded, the shovel teeth 6 will not be blocked by any material. At this time, when the light source 3 projects the laser onto the shovel teeth 6, due to the existence of the intervals between the shovel teeth 6, the light projected by the light source 3 will become line segments, and a line segment represents a shovel tooth 6 at this time. When the bucket 5 is fully loaded, the material in the bucket 5 will inevitably collapse to the shovel teeth 6 located at the edge of the opening of the bucket 5, and then block one or more intervals between the shovel teeth 6. The more material is loaded in the bucket 5, the more intervals of the shovel teeth 6 will be blocked by the material. Once the intervals between the shovel teeth 6 are blocked by the material, "shovel teeth 6-material-shovel teeth 6" will form a continuous projected surface, and the light that was originally only projected on the shovel teeth 6 and interrupted will become a small number of long segments due to the existence of the continuous projected surface.

[0028] At this point, we only need to use the industrial camera 4 to capture the instantaneous image of the bucket 5 when it is fully loaded, and use the image recognition algorithm to identify the number of marked line segments recorded in the image. It is easy to think that the more materials there are in the bucket 5, the more intervals between the blocked shovel teeth 6, and the fewer and longer the marked line segments projected on the shovel teeth 6. At this point, if we subtract the number of marked line segments captured by the industrial camera 4 when loaded from the number of marked line segments when unloaded (i.e., the actual number of shovel teeth), we can get a difference.

[0029] The larger the difference, the fewer the number of marked segments, the more intervals between the blocked shovel teeth 6, and the more material in the bucket 5. At this time, when we agree on the difference when fully loaded as a measurement standard, we can use this to evaluate or judge the amount of ore loaded each time the electric shovel bucket 5 shovels material.

[0030] Among them, it should be noted that almost all electric shovel buckets 5 need to experience the process of the bucket 5 opening deflecting counterclockwise during the shoveling process. This filling action determines why it is called an electric "shovel". In the process of deflection, ore will inevitably fall out of the bucket 5, so the amount of ore in the bucket 5 during this deflection process is a dynamic reduction process. Before the opening of the bucket 5 is truly rotated to be approximately parallel to the horizontal ground, the entire amount of ore will stop decreasing. At this time, the amount of ore in the bucket 5 is the amount of ore transferred by the electric shovel in one "shovel", and it is the basis for monitoring the full bucket rate. At this time, the opening of the bucket 5 is approximately flush with the ground and facing upward, which is just convenient for the industrial camera 4 and light source 3 installed at the end of the boom 1 above the bucket 5 to collect images and project lasers on the bucket 5. This is also the key reason why the present invention installs the industrial camera 4 and light source 3 on the boom 1.

[0031] Furthermore, it is precisely because the amount of ore in the bucket 5 is stable when the opening of the bucket 5 is approximately horizontal, that is, only by collecting the instantaneous image of the bucket 5 at this time can the full bucket rate be calculated. Therefore, in order to avoid meaningless multiple shots of the industrial camera 4 at irrelevant times and reduce the amount of calculation of subsequent image recognition, it is particularly important to accurately remind or control the industrial camera 4 when to take pictures.

[0032] The present invention uses a Hall magnetic sensor to monitor the movement state of the joystick in the cab, a GPS position sensor 8 to sense the height of the bucket 5, and a ranging radar 7 to measure the distance between the bucket 5 and the industrial camera 4. When the above-mentioned movement state, height, and distance all reach a preset value (the preset value is derived from a pre-measurement of the bucket 5 in the state of being about to unload), it means that the bucket 5 is in the state of being about to unload, and then the controller controls the industrial camera 4 to capture the image information of the bucket 5 at this time.

[0033] At the same time, in order to ensure the adaptability and accuracy of the identification device in harsh environments such as extreme weather and dust, the present invention prefers that the light source 3 projects a 3R-level horizontal laser with a wavelength of 515nm. Its high visibility and safety can ensure the stable operation of the entire identification device in the above environment.

[0034] Embodiment 2: like Figure 2 As shown, this embodiment 2 proposes a method for identifying the full bucket rate of an open-pit mine electric shovel based on manual marking. The method for identifying the full bucket rate of an open-pit mine electric shovel based on manual marking adopts the full bucket rate identification device for an open-pit mine electric shovel based on manual marking in the above embodiment 1, and the specific steps are as follows: Step 101: a light source 3 is arranged at one end of the boom 1 close to the sheave 2, and a laser line is marked on the bucket 5 and the shovel teeth 6 by using the light source 3 to form a marking line; Step 102: Install a distance-measuring radar 7 and an industrial camera 4 near the light source 3, measure the distance between the industrial camera 4 and the bucket 5 in real time through the distance-measuring radar 7, and set a critical distance A1; install a GPS position sensor 8 on the outer surface of the bucket 5 to obtain the real-time height of the bucket 5 compared to the horizontal ground, and set a preset height A2; install a Hall magnetic sensor on the joystick in the cab to collect the movement information of the joystick in real time; Step 103: the ranging radar 7 sends the collected distance information between the industrial camera 4 and the bucket 5, the real-time distance information of the bucket 5 compared to the horizontal ground collected by the GPS position sensor 8, and the real-time motion information of the joystick collected by the Hall magnetic sensor to the controller. When the controller simultaneously detects that the distance between the bucket 5 and the industrial camera 4 is less than the critical distance A1, the height of the bucket 5 is greater than the preset height A2, and the joystick of the bucket 5 is in the unloading operation state, the industrial camera 4 is triggered to take pictures of the bucket 5 and the shovel teeth 6, and then the image information of the bucket 5 at this time point or state is collected and sent to the data processor; Step 104: After receiving the image information captured by the industrial camera 4, the data processor uses image recognition technology to capture the marking line in the image information, obtains the number of segments of the marking line, and compares it with the number of marking line segments extracted from the pre-stored image information of the empty bucket 5, and obtains the difference in the number of marking line segments before and after the bucket 5 is loaded, thereby determining whether the bucket 5 is full this time, and thus calculating the full bucket rate.

[0035] The judgment rule for whether the bucket is full in step 104 is: when the difference between the number of marked line segments before and after the bucket 5 is loaded is greater than 2, it means that the bucket 5 is fully loaded; when the difference between the number of marked line segments before and after the bucket 5 is loaded is less than 2, it is judged that the loading amount of this action is insufficient.

[0036] The difference in the number of marked line segments is equal to the number of marked line segments extracted from the image information when the bucket 5 is empty minus the number of marked line segments extracted from the image information when the bucket 5 is loaded.

[0037] Compared with the traditional method of monitoring the fullness rate of the bucket by measuring the instantaneous volume through three-dimensional modeling of the material surface and the bucket 5, the present invention only captures the number of marked line segments projected on the shovel teeth 6 in the two-dimensional image through image recognition technology, and obtains the difference between the number of marked line segments when empty and the number of marked line segments when loaded through a simple subtraction operation. The larger the difference, the more ore is loaded, and vice versa.

[0038] Therefore, the object captured by the image recognition of the present invention is no longer the bucket 5 or the material itself, but the 3R-level horizontal laser with a wavelength of 515nm projected on the surface of the shovel teeth 6, which is quite different from the surrounding environment and objects. This difference, strong visibility and safety can effectively ensure the accuracy and anti-interference ability of the image recognition object capture, so that the above judgment method can operate normally even at night when the dust is diffused or the brightness is not enough.

[0039] At the same time, the above image recognition only stays at the two-dimensional level, and does not require complicated two-dimensional to three-dimensional modeling process, nor does it require complex spatial volume calculation. Only through simple subtraction of the number of marked segments can it be realized to judge whether the bucket 5 is fully loaded at this time. This greatly simplifies the calculation process, saves computing power, and lays the foundation for the simple and efficient operation of the judgment system.

[0040] In addition, the introduction of measuring elements such as the GPS position sensor 8, the ranging radar 7, and the Hall magnetic sensor can timely remind the industrial camera 4 to capture the moment the bucket 5 is about to unload materials. This not only avoids the meaningless and indiscriminate capture of the industrial camera 4 to generate a large amount of garbage data, waste computing power, and reduce system operation efficiency; it can also ensure the accuracy of the capture of the industrial camera 4, further enhancing the accuracy of the judgment.

[0041] Embodiment three: The third embodiment proposes a system for identifying the full bucket rate of an open-pit mine shovel based on manual marking, which includes: the full bucket rate identification device for an open-pit mine shovel based on manual marking in the first embodiment.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A device for identifying the full bucket rate of an open-pit mining shovel based on manual marking, characterized in that: It comprises a light source (3) and an industrial camera (4) installed at one end of a large arm (1) close to a crown wheel (2); The light source (3) projects downwards and forms a marking line on the bucket (5) and the shovel teeth (6); The industrial camera (4) is used to collect image information of the bucket (5) and the shovel teeth (6); A data processor, wherein the signal input end of the data processor is connected to the industrial camera (4) and is used to receive image information collected by the industrial camera (4), and to identify the number of marked line segments marked on the shovel teeth (6) in the image information through image recognition technology, and compare it with the pre-stored image information of the empty bucket (5), to obtain the difference in the number of marked line segments before and after loading, thereby judging whether the bucket (5) is full this time.

2. The open-pit mining electric shovel full bucket rate identification device based on manual marking according to claim 1 is characterized in that: Also includes: A distance measuring radar (7), which is also installed on the boom (1) and is located near the industrial camera (4). The distance measuring radar (7) is used to measure the distance between the bucket (5) and the industrial camera (4) in real time, and is provided with a critical distance A1; A Hall magnetic sensor, the Hall magnetic sensor being mounted on a control lever of a shovel bucket (5) and used for collecting movement information of the control lever of the shovel bucket (5); A GPS position sensor (8), the GPS position sensor (8) being located outside the bucket (5) and used for obtaining the height of the bucket (5) relative to the horizontal ground in real time, and being provided with a preset height A2; A controller, wherein a signal input end of the controller is connected to a distance measuring radar (7), a Hall magnetic sensor, and a GPS position sensor (8); a signal output end of the controller is connected to the industrial camera (4); the controller is configured to trigger the industrial camera (4) to take photos of the bucket (5) and the shovel teeth (6) when the distance between the bucket (5) and the industrial camera (4) is less than a critical distance A1, the height of the bucket (5) is greater than a preset height A2, and the bucket (5) joystick is in an unloading operation state.

3. The open-pit mining electric shovel full bucket rate identification device based on manual marking according to claim 1 is characterized in that: The wavelength of the laser emitted by the light source (3) is 515 nm.

4. The open-pit mining electric shovel full bucket rate identification device based on manual marking according to claim 2 is characterized in that: The critical distance A1 and the preset height A2 are both measured values ​​when the bucket (5) is about to unload.

5. A method for identifying the full bucket rate of an open-pit mining shovel based on manual marking, wherein the method for identifying the full bucket rate of an open-pit mining shovel based on manual marking adopts the device for identifying the full bucket rate of an open-pit mining shovel based on manual marking according to any one of claims 1 to 4, and is characterized in that: The specific steps are as follows: Step 101: a light source (3) is arranged at one end of the boom (1) close to the sky wheel (2), and a laser line is marked on the bucket (5) and the shovel teeth (6) by using the light source (3) to form a marking line; Step 102: Install a distance-measuring radar (7) and an industrial camera (4) near the light source (3), measure the distance between the industrial camera (4) and the bucket (5) in real time through the distance-measuring radar (7), and set a critical distance A1; install a GPS position sensor (8) on the outer surface of the bucket (5) to obtain the real-time height of the bucket (5) relative to the horizontal ground, and set a preset height A2; install a Hall magnetic sensor on the joystick in the cab to collect the movement information of the joystick in real time; Step 103: the distance information between the industrial camera (4) and the bucket (5) collected by the ranging radar (7), the real-time distance information of the bucket (5) compared to the horizontal ground collected by the GPS position sensor (8), and the action information of the joystick collected in real time by the Hall magnetic sensor are all sent to the controller. When the controller simultaneously detects that the distance between the bucket (5) and the industrial camera (4) is less than the critical distance A1, the height of the bucket (5) is greater than the preset height A2, and the joystick of the bucket (5) is in the unloading operation state, the industrial camera (4) is triggered to take a picture of the bucket (5) and the shovel teeth (6), and then collects the image information of the bucket (5) at that time point or state and sends it to the data processor; Step 104: After receiving the image information captured by the industrial camera (4), the data processor uses image recognition technology to capture the marking line in the image information, obtains the number of segments of the marking line, and compares it with the number of marking line segments extracted from the pre-stored image information of the empty bucket (5), and obtains the difference in the number of marking line segments before and after the bucket (5) is loaded, thereby determining whether the bucket (5) is full this time, and thus calculating the full bucket rate.

6. The method for identifying the full bucket rate of an open-pit mining shovel based on manual marking according to claim 5 is characterized in that: The rule for determining whether the bucket is full in step 104 is as follows: when the difference between the number of marked line segments before and after the bucket (5) is loaded is greater than 2, it indicates that the bucket (5) is fully loaded; when the difference between the number of marked line segments before and after the bucket (5) is loaded is less than 2, it is determined that the ore loading amount for this action is insufficient.

7. The method for identifying the full bucket rate of an open-pit mining electric shovel based on manual marking according to claim 6 is characterized in that: The difference in the number of marked line segments is equal to the number of marked line segments extracted from the image information when the bucket (5) is empty minus the number of marked line segments extracted from the image information when the bucket (5) is loaded.

8. Open-pit mining electric shovel full bucket rate recognition system based on manual marking, including: The device for identifying the full bucket rate of an open-pit mining electric shovel based on manual marking as described in any one of claims 1 to 4 above.

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