Strip mine mountain blast hole parameter measurement system and method based on unmanned aerial vehicle

Abstract

The invention belongs to the technical field of blasting measurement, and relates to a strip mine blast hole parameter measurement system and method based on an unmanned aerial vehicle. The system comprises an unmanned aerial vehicle terminal, a remote control terminal and a control station terminal, the unmanned aerial vehicle terminal is provided with a scanning shooting device, a laser ranging device, a data processing unit, a storage unit and a communication unit; the scanning shooting device, the laser ranging device, the communication unit and the storage unit are in electric signal connection with the data processing unit. According to the invention, the measurement efficiency is improved; the blast holes are recognized in a feature recognition mode, the positions of all the blast holes can be accurately recognized, and accurate calibration of the positions of the blast holes is achieved; the blast holes are calibrated and marked in the three-dimensional model, so that the measurement efficiency is improved, and a measurement report can be quickly generated; by combining image feature recognition and laser ranging, the method has the advantage of high measurement accuracy compared with large measurement deviation caused by human errors in traditional manual measurement.

Description

Technical Field

[0001] The present invention belongs to the technical field of blasting measurement, and in particular, relates to an open-pit mine blasthole parameter measurement system and method based on an unmanned aerial vehicle. Background Art

[0002] At present, the depth of blastholes is mainly measured by inserting a tape measure or a bamboo pole into the blasthole. This process requires two people to cooperate with each other, one is responsible for pulling the tape measure or placing the bamboo pole, and the other is responsible for reading and recording. For the measurement of the spacing between blastholes, two people are required to measure the distance manually with a tape measure next to the adjacent blastholes. The measurement personnel hold the two ends of the tape measure respectively, and at least one person cannot move. After confirming that the position is appropriate, the reading is taken. Traditional measurement methods such as the attached Figure 1 As shown, the measuring ruler L is placed in the blasthole P of the open-air step A. First, each blasthole verification requires at least two people to work together, which is a huge waste of human resources; secondly, for open-air blasting, due to the large number of blastholes in a single blasting, the measurement of blasthole depth and spacing is very time-consuming and laborious, and the efficiency is low; in addition, since it is a manual measurement, deviations will occur if the tape measure is not carefully pulled, resulting in poor accuracy of the measurement results. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an open-pit mine blasthole parameter measurement system and method based on unmanned aerial vehicle.

[0004] In a first aspect, the present invention provides an open-pit mine blasthole parameter measurement system based on a drone, comprising a drone terminal, a remote control terminal and a control station terminal;

[0005] The UAV terminal is provided with a scanning and photographing device, a laser ranging device, a data processing unit, a storage unit and a communication unit; the scanning and photographing device, the laser ranging device, the communication unit and the storage unit are respectively connected with the data processing unit by electrical signals; the scanning and photographing device and the laser ranging device are both fixedly arranged at the UAV terminal; the remote control terminal is connected with the UAV terminal by communication;

[0006] When the remote control terminal controls the UAV to fly to the target location of the measurement task, the scanning and shooting device takes photos and scans the borehole inspection area;

[0007] The storage unit stores a feature database of blastholes;

[0008] The data processing unit extracts features from the captured images, and identifies the positions of various blastholes by comparing features with blasthole feature data in a feature database; the data processing unit performs three-dimensional modeling based on the captured images, calibrates the identified blastholes in the three-dimensional model, and numbers the calibrated blastholes in the three-dimensional model; the data processing unit sends the data of the three-dimensional model to the control station; the drone flies to the positions of the calibrated blastholes corresponding to the calibrated numbers in turn to perform laser ranging, and the data processing unit calibrates the ranging results to the three-dimensional model to obtain the depth data corresponding to the blastholes with the numbers, until the laser ranging and ranging result calibration are completed for all blastholes; after the measurement is completed, the data processing unit sends the three-dimensional model with the calibrated depth data to the control station through the communication unit;

[0009] The control station calculates the distance between the center lines of adjacent blast holes according to the blast hole numbers, and calibrates the calculation results to the corresponding positions of the three-dimensional model.

[0010] In a second aspect, the present invention provides a method for measuring blasthole parameters in an open-pit mine based on a drone, comprising:

[0011] The remote control terminal controls the drone to fly to the target location of the measurement task, and uses the scanning and shooting device to take photos and scan the borehole inspection area;

[0012] The drone uses the data processing unit on board to extract features from the captured images, and identifies the locations of each blast hole by comparing the features with the blast hole feature data in the feature database.

[0013] The data processing unit performs three-dimensional modeling based on the captured images, calibrates the identified blast holes in the three-dimensional model, and numbers each calibrated blast hole in the three-dimensional model;

[0014] The data processing unit sends the data of the three-dimensional model to the control station;

[0015] The control station calculates the distance between the center lines of adjacent blastholes according to the blasthole numbers, and calibrates the calculation results to the corresponding positions of the 3D model;

[0016] The UAV flies to the positions of the calibrated blastholes in turn to perform laser ranging. The data processing unit calibrates the ranging results into the three-dimensional model to obtain the depth data corresponding to the blastholes with different numbers until the laser ranging and ranging result calibration are completed for all blastholes.

[0017] After the measurement is completed, the drone generates a measurement report and returns. The data processing unit sends the three-dimensional model with calibrated depth data to the control station through the communication unit.

[0018] Based on the above technical solution, the present invention can also be improved as follows.

[0019] Furthermore, the scanning and shooting device includes a pan-tilt camera, an acceleration sensor and an image processor; the pan-tilt camera and the acceleration sensor are respectively connected to the image processor by electrical signals.

[0020] Furthermore, an electric telescopic rod is arranged at the bottom of the drone; the scanning and shooting device and the laser ranging device are fixedly arranged on the electric telescopic rod.

[0021] Furthermore, the remote control terminal is provided with a remote controller, a display, a microprocessor and an image capturing button; the remote controller, the display and the image capturing button are respectively connected to the microprocessor by electrical signals.

[0022] Furthermore, the data processing unit grayscales the image data, extracts geometric features and texture features of the image, and converts them into feature vectors; similarity is calculated between the feature vectors and the blasthole feature data in the feature database, and the blasthole feature data with the greatest similarity is screened out as the recognition result of the blasthole.

[0023] Furthermore, the control station renders the three-dimensional model with calibrated depth data, generates image data and displays it.

[0024] Furthermore, the scanning and shooting device on the drone side collects continuous image data and performs feature recognition on each blast hole, and the data processing unit performs target tracking on the recognition results of the blast holes in the adjacent time frame images; calculates the average value of the depth data measurement results of the blast holes obtained at the corresponding moments of the multiple frames of images, and calculates the average value of the measurement results of the row spacing between the blast holes obtained at the corresponding moments of the multiple frames of images.

[0025] The beneficial effects of the present invention are as follows: the present invention only requires an operator to operate the drone to complete the measurement of the blasthole depth and the row spacing between blastholes, and obtain a measurement report, thereby improving the measurement efficiency; the blastholes are identified by a feature recognition method, and the positions of each blasthole can be accurately identified, thereby realizing accurate calibration of the blasthole positions; through three-dimensional modeling, the blastholes are calibrated and marked in the three-dimensional model according to the measurement results of the laser ranging and the measurement results of the row spacing between blastholes, thereby improving the measurement efficiency and being able to quickly generate a measurement report; the method of combining image feature recognition with laser ranging has the advantage of high measurement accuracy compared to the large measurement deviation caused by human errors in traditional manual measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the traditional method of measuring the depth of blastholes;

[0027] Figure 2 It is a schematic diagram of the traditional method of measuring the spacing between blastholes;

[0028] Figure 3A system block diagram of an open-pit mine blasthole parameter measurement system based on a drone provided in Example 1 of the present invention;

[0029] Figure 4 This is the principle block diagram of the drone terminal;

[0030] Figure 5 The schematic diagram of a method for measuring blasthole parameters in open-pit mines based on UAV.

[0031] Icons: L- measuring ruler; A- open-air step; P- blast hole; 101- scanning and photographing device; 102- laser ranging device; 103- data processing unit; 104- storage unit; 105- communication unit. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Example 1

[0034] As an example, Figure 3 As shown, in order to solve the above technical problems, this embodiment provides an open-pit mine blasthole parameter measurement system based on a drone, including a drone terminal 1, a remote control terminal 2 and a control station terminal 3;

[0035] As attached Figure 4 As shown, the drone terminal is provided with a scanning and shooting device 101, a laser ranging device 102, a data processing unit 103, a storage unit 104 and a communication unit 105; the scanning and shooting device 101, the laser ranging device 102, the communication unit 103 and the storage unit 104 are respectively connected to the data processing unit 105 by electrical signals; as shown in the attached Figure 3 As shown, the scanning and photographing device 101 and the laser ranging device 102 are both fixedly arranged on the drone terminal 1; the remote control terminal 2 is in communication connection with the drone terminal 1;

[0036] When the remote control terminal controls the UAV to fly to the target location of the measurement task, the scanning and shooting device takes photos and scans the borehole inspection area;

[0037] The storage unit stores a feature database of blastholes;

[0038] The data processing unit extracts features from the captured images, and identifies the positions of various blastholes by comparing features with blasthole feature data in a feature database; the data processing unit performs three-dimensional modeling based on the captured images, calibrates the identified blastholes in the three-dimensional model, and numbers the calibrated blastholes in the three-dimensional model; the data processing unit sends the data of the three-dimensional model to the control station; the drone flies to the positions of the calibrated blastholes corresponding to the calibrated numbers in turn to perform laser ranging, and the data processing unit calibrates the ranging results to the three-dimensional model to obtain the depth data corresponding to the blastholes with the numbers, until the laser ranging and ranging result calibration are completed for all blastholes; after the measurement is completed, the data processing unit sends the three-dimensional model with the calibrated depth data to the control station through the communication unit;

[0039] The control station calculates the distance between the center lines of adjacent blast holes according to the blast hole numbers, and calibrates the calculation results to the corresponding positions of the three-dimensional model.

[0040] When measuring the depth of blastholes and the spacing between blastholes, the operator uses the remote control terminal to fly the drone to the designated measurement location, uses the scanning and shooting device to take photos and scan the entire borehole inspection area, uses the processor on the drone to perform 3D modeling on the captured images, identifies the blastholes through feature recognition, marks the blastholes in the 3D model, and numbers each blasthole. By using feature recognition, by extracting multiple features of the blastholes, such as geometric features and texture features, the blastholes can be more accurately distinguished from objects in the surrounding environment, reducing the possibility of misjudgment. Geometric features include shape and size, and texture features include contrast.

[0041] As an optional implementation, the scanning and photographing device includes a pan-tilt camera, an acceleration sensor and an image processor; the pan-tilt camera and the acceleration sensor are respectively connected to the image processor by electrical signals.

[0042] In actual application, the acceleration sensor can measure acceleration data, and the data processing unit determines the motion state of the drone based on the acceleration data. When the motion state of the drone is stable, the image taken with the gimbal camera is clearer, avoiding image blur, ghosting and color deviation.

[0043] As an optional implementation, an electric telescopic rod is provided at the bottom of the drone; the scanning and shooting device and the laser ranging device are fixedly arranged on the electric telescopic rod.

[0044] In actual application, the scanning and shooting device and the laser ranging device are aligned with the blast hole, and the height adjustment of the scanning and shooting device and the laser ranging device is achieved through the electric telescopic rod, so that more accurate blast hole images and laser ranging parameters can be obtained.

[0045] As an optional implementation, the remote control terminal is provided with a remote controller, a display, a microprocessor and an image capturing button; the remote controller, the display and the image capturing button are respectively connected to the microprocessor by electrical signals.

[0046] In actual application, the operator controls the position of the UAV through the remote control so that the scanning and shooting device and the laser ranging device are aimed at the blast hole, which can obtain more accurate blast hole images and laser ranging parameters and improve measurement efficiency.

[0047] Example 2

[0048] Based on the same principle as the system shown in Example 1 of the present invention, as shown in the attached Figure 5 As shown, an embodiment of the present invention further provides a method for measuring blasthole parameters of an open-pit mine based on a drone, comprising:

[0049] The remote control terminal controls the drone to fly to the target location of the measurement task, and uses the scanning and shooting device to take photos and scan the borehole inspection area;

[0050] The drone uses the data processing unit on board to extract features from the captured images, and identifies the locations of each blast hole by comparing the features with the blast hole feature data in the feature database.

[0051] The data processing unit performs three-dimensional modeling based on the captured images, calibrates the identified blast holes in the three-dimensional model, and numbers each calibrated blast hole in the three-dimensional model;

[0052] The data processing unit sends the data of the three-dimensional model to the control station;

[0053] The control station calculates the distance between the center lines of adjacent blastholes according to the blasthole numbers, and calibrates the calculation results to the corresponding positions of the 3D model;

[0054] The UAV flies to the positions of the calibrated blastholes in turn to perform laser ranging. The data processing unit calibrates the ranging results into the three-dimensional model to obtain the depth data corresponding to the blastholes with different numbers until the laser ranging and ranging result calibration are completed for all blastholes.

[0055] After the measurement is completed, the drone generates a measurement report and returns. The data processing unit sends the three-dimensional model with calibrated depth data to the control station through the communication unit.

[0056] The present invention only requires an operator to operate the drone to complete the measurement of the blasthole depth and the row spacing between blastholes and obtain a measurement report, thereby improving the measurement efficiency; the blastholes are identified by a feature recognition method, and the positions of each blasthole can be accurately identified, thereby realizing accurate calibration of the blasthole positions; through three-dimensional modeling, the blastholes are calibrated and marked in the three-dimensional model according to the measurement results of the laser ranging and the measurement results of the row spacing between blastholes, thereby improving the measurement efficiency and being able to quickly generate a measurement report; the present invention adopts a method of combining image feature recognition with laser ranging, and compared with the traditional manual measurement that has a large measurement deviation caused by human errors, the present invention has the advantage of high measurement accuracy.

[0057] As an optional implementation, the data processing unit grayscales the image data, extracts the geometric features and texture features of the image, and converts them into feature vectors; the similarity between the feature vectors and the blast hole feature data in the feature database is calculated, and the blast hole feature data with the greatest similarity is screened out as the identification result of the blast hole.

[0058] In practical applications, the blasthole feature data with the largest similarity calculated based on the feature vector can accurately identify the characteristics of each blasthole, which is conducive to accurately positioning each blasthole and thus calibrating each blasthole.

[0059] Optionally, the control station renders the three-dimensional model with calibrated depth data, generates image data and displays it.

[0060] In actual application, rendering can make the tiny undulations and details on the surface of the 3D model more clearly displayed. The various parts of the 3D model can present the near and far hierarchical relationship according to the depth data, making the generated image more realistic, and the operator can intuitively observe the measurement results through the 3D model.

[0061] As an optional implementation, the scanning and shooting device on the drone side collects continuous image data and performs feature recognition on each blast hole, and the data processing unit performs target tracking on the recognition results of the blast holes in adjacent time frame images; calculates the average value of the depth data measurement results of the blast holes obtained at corresponding moments of multiple frames of images, and calculates the average value of the measurement results of the row spacing between blast holes obtained at corresponding moments of multiple frames of images.

[0062] In actual application, by tracking the target points with the same recognition results of blast holes in adjacent time frame images, calculating the average value of the depth data measurement results of the blast holes obtained at the corresponding moments of multiple frames of images, and calculating the average value of the measurement results of the row spacing between blast holes obtained at the corresponding moments of multiple frames of images, more accurate measurement results can be obtained, reducing the measurement errors caused by the shaking of the drone due to environmental factors interfering with the drone.

[0063] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An open-pit mine blasthole parameter measurement system based on drone, characterized in that: Including drone terminal, remote control terminal and control station terminal; The UAV terminal is provided with a scanning and photographing device, a laser ranging device, a data processing unit, a storage unit and a communication unit; the scanning and photographing device, the laser ranging device, the communication unit and the storage unit are respectively connected with the data processing unit by electrical signals; the scanning and photographing device and the laser ranging device are both fixedly arranged at the UAV terminal; the remote control terminal is connected with the UAV terminal by communication; When the remote control terminal controls the UAV to fly to the target location of the measurement task, the scanning and shooting device takes photos and scans the borehole inspection area; The storage unit stores a feature database of blastholes; The data processing unit extracts features from the captured images, and identifies the positions of various blastholes by comparing features with blasthole feature data in a feature database; the data processing unit performs three-dimensional modeling based on the captured images, calibrates the identified blastholes in the three-dimensional model, and numbers the calibrated blastholes in the three-dimensional model; the data processing unit sends the data of the three-dimensional model to the control station; the drone flies to the positions of the calibrated blastholes corresponding to the calibrated numbers in turn to perform laser ranging, and the data processing unit calibrates the ranging results to the three-dimensional model to obtain the depth data corresponding to the blastholes with the numbers, until the laser ranging and ranging result calibration are completed for all blastholes; after the measurement is completed, the data processing unit sends the three-dimensional model with the calibrated depth data to the control station through the communication unit; The control station calculates the distance between the center lines of adjacent blast holes according to the blast hole numbers, and calibrates the calculation results to the corresponding positions of the three-dimensional model.

2. The open-pit mine blasthole parameter measurement system based on drone according to claim 1 is characterized in that: The scanning and shooting device comprises a pan-tilt camera, an acceleration sensor and an image processor; the pan-tilt camera and the acceleration sensor are respectively connected to the image processor by electrical signals.

3. The open-pit mine blasthole parameter measurement system based on drone according to claim 1 is characterized in that: An electric telescopic rod is arranged at the bottom of the drone; a scanning and shooting device and a laser distance measuring device are fixedly arranged on the electric telescopic rod.

4. The open-pit mine blasthole parameter measurement system based on drone according to claim 1, characterized in that: The remote control terminal is provided with a remote controller, a display, a microprocessor and an image shooting button; the remote controller, the display and the image shooting button are respectively connected with the microprocessor by electrical signals.

5. A method for measuring blasthole parameters of an open-pit mine based on a drone based open-pit mine blasthole parameter measurement system according to claim 1, characterized in that: include: The remote control terminal controls the drone to fly to the target location of the measurement task, and uses the scanning and shooting device to take photos and scan the borehole inspection area; The drone uses the data processing unit on board to extract features from the captured images, and identifies the locations of each blast hole by comparing the features with the blast hole feature data in the feature database. The data processing unit performs three-dimensional modeling based on the captured images, calibrates the identified blast holes in the three-dimensional model, and numbers each calibrated blast hole in the three-dimensional model; The data processing unit sends the data of the three-dimensional model to the control station; The control station calculates the distance between the center lines of adjacent blastholes according to the blasthole numbers, and calibrates the calculation results to the corresponding positions of the 3D model; The UAV flies to the positions of the calibrated blastholes in turn to perform laser ranging. The data processing unit calibrates the ranging results into the three-dimensional model to obtain the depth data corresponding to the blastholes with different numbers until the laser ranging and ranging result calibration are completed for all blastholes. After the measurement is completed, the drone generates a measurement report and returns. The data processing unit sends the three-dimensional model with calibrated depth data to the control station through the communication unit.

6. The method for measuring blasthole parameters of an open-pit mine based on an unmanned aerial vehicle according to claim 5, characterized in that: The data processing unit performs grayscale processing on the image data, extracts the geometric features and texture features of the image, and converts them into feature vectors; The similarity between the feature vector and the blasthole feature data in the feature database is calculated, and the blasthole feature data with the greatest similarity is screened out as the recognition result of the blasthole.

7. The method for measuring blasthole parameters of an open-pit mine based on an unmanned aerial vehicle according to claim 5, characterized in that: The control station renders the three-dimensional model with calibrated depth data, generates image data and displays it.

8. The method for measuring blasthole parameters of an open-pit mine based on an unmanned aerial vehicle according to claim 5, characterized in that: The scanning and shooting device on the drone end collects continuous image data and performs feature recognition on each blast hole, and the data processing unit performs target tracking based on the recognition results of the blast holes in the adjacent time frame images; The average value of the depth data measurement results of the blastholes obtained at the corresponding time of the multiple frames of images is calculated, and the average value of the measurement results of the row spacing between the blastholes obtained at the corresponding time of the multiple frames of images is calculated.

Images