Automatic deviation correction method and system for exposed mining machine and storage medium

Abstract

The invention provides an automatic deviation correction method and system for an exposed mining machine and a storage medium, and the method comprises the steps: carrying out the 3D modeling of a working region, and generating a preset track of the exposed mining machine according to the geological parameters of the working region and the working parameters of the exposed mining machine; detecting the real-time orientation of the dew mining machine during working, and calculating the working track of the dew mining machine according to the detected real-time orientation; the working track is compared with a preset track, the overlap ratio parameter of the working track and the preset track is obtained, and the overlap ratio parameter is the proportion of the part, overlapped with the area covered by the working track, in the area covered by the preset track; and selecting a preset correction mode according to the obtained overlap ratio parameter. The technical problem that in the prior art, the mining efficiency is low due to the fact that the movement track of an exposed mining machine deviates is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of open-pit mining machines, and in particular to an automatic deviation correction method, system and storage medium for an open-pit mining machine. Background Art

[0002] At present, my country's open-pit coal mines generally adopt perforation blasting, single-bucket shovel excavation, truck transportation, semi-fixed crushing stations, and semi-continuous mining processes. The overall efficiency is low, and continuous and semi-continuous mining processes are less used.

[0003] During the coal mining process, due to the lack of accurate detection and mastery of the coal seam structure and coal body characteristics in the mining area, autonomous coal mining is generally carried out based on manual experience or equipment capabilities, resulting in a large amount of coal body waste during the construction process, affecting the construction efficiency and working capacity of the open-pit mining machine, and further affecting the construction trajectory of the full continuous mining system. At the same time, the entire mining area detected in the early stage has changed the coal rock structure as the open-pit mining machine works more deeply. The detection information of the early mining area can no longer meet the construction needs, resulting in unreasonable construction parameter settings, affecting the construction efficiency and working capacity of the open-pit mining machine, and further affecting the construction trajectory of the open-pit mining machine.

[0004] Therefore, the prior art needs to be further developed. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide an automatic deviation correction method for an open-pit miner to solve the technical problem in the related art that the movement trajectory of the open-pit miner deviates, resulting in low mining efficiency.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: providing an automatic deviation correction method for an open-pit mining machine, comprising:

[0007] Conduct 3D modeling of the work area, including the establishment of ground environment models and underground coal seam structure models;

[0008] Generate a preset trajectory of the open-pit mining machine according to geological parameters of the working area and working parameters of the open-pit mining machine;

[0009] Detect the real-time position of the open-pit mining machine when it is working, and calculate the working trajectory of the open-pit mining machine according to the detected real-time position;

[0010] Compare the working trajectory with the preset trajectory to obtain a coincidence parameter between the working trajectory and the preset trajectory, wherein the coincidence parameter is the proportion of the area covered by the preset trajectory that overlaps with the area covered by the working trajectory to the area covered by the preset trajectory;

[0011] A plurality of correction modes are preset, and a plurality of step judgment thresholds are set for different correction modes according to the overlap parameters. The obtained overlap parameters are compared with the plurality of step judgment thresholds to select the preset correction mode.

[0012] The automatic deviation correction method for the open-pit mining machine of the present invention can detect and adjust the working trajectory of the open-pit mining machine in real time, and respond promptly after the working trajectory of the open-pit mining machine deviates, thereby ensuring that the mining trajectory of the full-continuous mining system is always in the optimal state during the construction process, so that the open-pit mining machine maintains a high mining efficiency.

[0013] Furthermore, the method for establishing the ground environment model includes:

[0014] Obtain a surface aerial survey image database using a drone platform equipped with an oblique photography camera;

[0015] Perform model feature point extraction, aerial triangulation, and multi-view image intensive matching on the surface aerial survey image database;

[0016] Based on the preset dense point cloud database and surface aerial survey image database, irregular 3D grids and texture mapping are constructed to obtain a real 3D model of the ground environment.

[0017] Further, the method for establishing the underground coal seam structural model includes:

[0018] Based on profiles, drilling data, discrete points, and multi-layer DEM data, an underground coal seam structural model is established in combination with the morphology, distribution, and contact relationship of strata and ore bodies.

[0019] Furthermore, based on the 3D model of the working area, the mining conditions and suitable mining technology are judged, a suitable mining procedure is selected, and the specific mining trajectory of the open-pit miner is predicted based on the selected mining procedure.

[0020] Furthermore, the method for detecting the real-time position of the open-pit mining machine during operation includes:

[0021] A first position sensor is arranged at the center of the open-pit mining machine, and a plane rectangular coordinate system is established in the working area with the initial position of the first position sensor as the origin and the axis of the preset track of the open-pit mining machine as the y-axis;

[0022] Determine the position of the open-pit mining machine in the plane rectangular coordinate system according to the real-time position x1 detected by the first position sensor;

[0023] A second position sensor is set at the cockpit position of the open-pit mining machine to obtain the real-time position x1 of the first position sensor and the real-time position x2 detected by the second position sensor. It is the forward direction of the open-pit mining machine in the plane rectangular coordinate system;

[0024] The real-time position x1 of the open-pit mining machine and the forward direction Combined with the real-time position of the open-pit mining machine.

[0025] Furthermore, the method for calculating the working trajectory of the open-pit mining machine according to the detected real-time orientation includes:

[0026] A third position sensor and a fourth position sensor are respectively provided on both sides of the open-pit mining machine;

[0027] According to the real-time position x3 of the third position sensor and the real-time position x4 detected by the fourth position sensor, the shortest distance between x3 and x4 is the mining width of the open-pit mining machine;

[0028] Combine the real-time position x1 of the open-pit mining machine and the forward direction The area mined during the advance of the open-pit miner, that is, the working trajectory of the open-pit miner, is obtained; wherein the area covered by the working trajectory refers to the area of ​​a closed figure enclosed by the moving trajectory of the third position sensor, the moving trajectory of the fourth position sensor, the x-axis in the plane rectangular coordinate system, and the straight line parallel to the x-axis where the first displacement sensor is located in the plane rectangular coordinate system.

[0029] Furthermore, the multiple step judgment thresholds include a first preset value and a second preset value, the first preset value is greater than the second preset value, and the method for selecting a preset correction mode according to the obtained overlap parameter includes:

[0030] When the overlap parameter is greater than or equal to the first preset value, the open-pit mining machine does not need to correct deviation;

[0031] When the overlap parameter is less than the first preset value and greater than or equal to the second preset value, the open-pit mining machine starts the automatic deviation correction mode;

[0032] When the overlap is less than a second preset value, the open-pit mining machine issues a deviation correction alarm and requires manual deviation correction.

[0033] Furthermore, the first preset value is set to 0.9, and the second preset value is set to 0.7.

[0034] Furthermore, the automatic deviation correction method of the open-pit mining machine also includes:

[0035] Predict the future movement trajectory of the open-pit mining machine based on real-time position detection;

[0036] Compare the future motion trajectory of the open-pit mining machine with the preset trajectory to obtain a coincidence parameter between the future motion trajectory and the preset trajectory;

[0037] If the overlap parameter is lower than the preset value, the working parameters of the open-pit mining machine are adjusted to correct the movement trajectory of the open-pit mining machine.

[0038] The present invention also provides an automatic deviation correction system for an open-pit mining machine, the automatic deviation correction system for an open-pit mining machine comprising:

[0039] Modeling module, which performs 3D modeling of the working area, including establishing ground environment model and underground coal seam structure model and predicting the preset trajectory of the open-pit mining machine;

[0040] Unit 1: Methods for establishing ground environment models include:

[0041] Obtain a surface aerial survey image database using a drone platform equipped with an oblique photography camera;

[0042] Perform model feature point extraction, aerial triangulation, and multi-view image intensive matching on the surface aerial survey image database;

[0043] Based on the preset dense point cloud database and surface aerial survey image database, irregular 3D grids and texture mapping are constructed to obtain a real 3D model of the ground environment.

[0044] Unit 2: Methods for establishing underground coal seam structural models include:

[0045] Based on profiles, drilling data, discrete points, and multi-layer DEM data, an underground coal seam structural model is established in combination with the morphology, distribution, and contact relationship of strata and ore bodies.

[0046] Unit 3: Based on the 3D model of the working area, determine the mining conditions and suitable mining technology, select the appropriate mining procedure, and predict the specific mining trajectory of the open-pit miner according to the selected mining procedure;

[0047] A detection module, wherein the detection unit is used to detect the real-time position of the open-pit mining machine and calculate the working trajectory of the open-pit mining machine according to the detected real-time position;

[0048] The fourth unit is used to detect the real-time position of the open-pit mining machine when it is working. A first position sensor is set at the center of the open-pit mining machine, and a plane rectangular coordinate system is established in the working area with the initial position of the first position sensor as the origin and the axis of the preset trajectory of the open-pit mining machine as the y-axis;

[0049] Determine the position of the open-pit mining machine in the plane rectangular coordinate system according to the real-time position x1 detected by the first position sensor;

[0050] A second position sensor is set at the cockpit position of the open-pit mining machine to obtain the real-time position x1 of the first position sensor and the real-time position x2 detected by the second position sensor. It is the forward direction of the open-pit mining machine in the plane rectangular coordinate system;

[0051] The real-time position x1 of the open-pit mining machine and the forward direction Combined with the real-time position of the open-pit mining machine;

[0052] A calculation module, wherein the calculation unit is used to calculate the working trajectory of the open-pit mining machine and the coincidence parameter between the working trajectory and the preset trajectory according to the detected real-time orientation;

[0053] The fifth unit is used to detect the real-time position and calculate the working trajectory of the open-pit mining machine, including a third position sensor and a fourth position sensor respectively arranged on both sides of the open-pit mining machine;

[0054] According to the real-time position x3 of the third position sensor and the real-time position x4 detected by the fourth position sensor, the shortest distance between x3 and x4 is the mining width of the open-pit mining machine;

[0055] Combine the real-time position x1 of the open-pit mining machine and the forward direction The area mined during the advance of the open-pit miner, that is, the working trajectory of the open-pit miner, is obtained; wherein the area covered by the working trajectory refers to the area of ​​a closed figure formed by the moving trajectory of the third position sensor, the moving trajectory of the fourth position sensor, the x-axis in the plane rectangular coordinate system, and the straight line parallel to the x-axis where the first displacement sensor is located in the plane rectangular coordinate system;

[0056] The sixth unit is used to compare the working trajectory with the preset trajectory to obtain a coincidence parameter between the working trajectory and the preset trajectory;

[0057] A correction module, wherein the correction unit presets a plurality of correction modes, and sets a plurality of step judgment thresholds for different correction modes according to the overlap parameter, and compares the obtained overlap parameter with the plurality of step judgment thresholds to select the preset correction mode;

[0058] Unit 7, the plurality of step judgment thresholds include a first preset value and a second preset value, the first preset value is greater than the second preset value, and the method for selecting a preset correction mode according to the obtained overlap parameter includes:

[0059] When the overlap parameter is greater than or equal to the first preset value, the open-pit mining machine does not need to correct deviation;

[0060] When the overlap parameter is less than the first preset value and greater than or equal to the second preset value, the open-pit mining machine starts the automatic deviation correction mode;

[0061] When the overlap is less than a second preset value, the open-pit mining machine issues a deviation correction alarm and requires manual deviation correction.

[0062] The present invention also provides a computer-readable storage medium, on which is stored a program for the automatic deviation correction method for an open-pit mining machine. The program for implementing the automatic deviation correction method for an open-pit mining machine is executed by a processor to implement the steps of the above-mentioned deviation correction method for an open-pit mining machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1is a flow chart of an automatic deviation correction method for an open-pit mining machine used in an embodiment of the present invention;

[0064] Figure 2 is a schematic diagram of coincidence parameters used in an embodiment of the present invention;

[0065] Figure 3 It is a schematic diagram of an automatic deviation correction system for an open-pit mining machine used in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0067] The embodiment of the present invention provides an automatic deviation correction method for an open-pit mining machine, please refer to Figures 1 to 3 ,include:

[0068] S100 performs 3D modeling of the work area, including the establishment of ground environment models and underground coal seam structure models;

[0069] In specific practice, 3D modeling of the work area includes establishing a ground environment model and an underground coal seam structure model.

[0070] In one embodiment, a method for establishing a ground environment model includes: obtaining a surface aerial survey image database through an unmanned aerial vehicle platform equipped with an oblique photography camera; performing model feature point extraction, aerial triangulation, and multi-view image dense matching on the surface aerial survey image database; constructing an irregular three-dimensional grid and texture mapping based on a preset dense point cloud database and a surface aerial survey image database to obtain a real three-dimensional model of the real ground environment.

[0071] In one embodiment, the step of establishing a ground environment model includes:

[0072] Data collection. Collect mine contour drawings to understand the mine boundaries, elevation differences, etc., for use in mapping the aerial survey flight area.

[0073] On-site survey. Understand the topographic conditions in one embodiment, preliminarily determine the distribution of aerial survey flights, take-off points and the locations of image control points, and submit an application to the local air traffic control department for approval. All aerial photography projects require airspace application, and measurement can only be carried out after approval.

[0074] Aerial survey area planning: Based on the mine data and on-site survey conditions, the take-off point and the distribution of aerial survey flights are preliminarily determined.

[0075] Flight parameter setting: Determine the flight speed, flight altitude, ground resolution and overlap of the aerial survey drone.

[0076] Image control point layout: Use the method of "evenly layout around the periphery and in the middle", L-shaped layout, and line width of 20cm.

[0077] Image control point measurement: Use GNSSRTK measurement to measure the coordinates of statistical points.

[0078] Aerial survey flight. Collect image data and POS information.

[0079] Field data packaging: Organize images, POS and image control point coordinate information.

[0080] Among them, internal data processing includes the following parts:

[0081] Data preparation: The original data contains oblique photography photos and control point information.

[0082] Import photos. Set sampling rate, check the integrity of the photos, import POS, edit camera parameters. Each photo group will have a camera parameter, which can be edited, imported or exported by right clicking.

[0083] Aerial triangulation measurement. After submission, it will show that the aerial triangulation is waiting for processing. Set the engine path to be consistent with the project path, then start the engine and the aerial triangulation can be run.

[0084] Phased puncture points. Each flight belt has no less than 9 puncture points, and the edge generally has no less than 3 puncture points.

[0085] Rebuild the model. Set the spatial coordinate system, select tile partitioning in mode, set the tile size, and submit to generate the product.

[0086] It can be understood that the ground environment model established by the above method has good controllability and interactivity due to the diversification of its output data format. In specific practice, it has the advantages of flexible operation, high precision, and strong emergency response.

[0087] In one embodiment, the method for establishing an underground coal seam structural model includes: establishing an underground coal seam structural model based on profiles, drilling data, discrete points, and multi-layer DEM data, combined with the morphology, distribution, and contact relationship of strata and ore bodies.

[0088] In one embodiment, an underground coal seam public ownership model for open-pit mines that is adaptable to different types of ore deposits and geological conditions can be established based on profiles, drill hole data, discrete points, multi-layer DEM, multi-source data, etc.

[0089] In one embodiment, this embodiment uses LiDAR radar laser scanning technology to obtain point cloud data, and uses the point cloud data to build an open-pit mine model; the kilometer-long drilling data is processed using the Kriging interpolation algorithm to obtain a coal seam model.

[0090] In one embodiment, based on the established three-dimensional geological structure model, the interior of the geological block is gridded, and according to the attribute characteristics of the geological body, quantitative geological attribute data is used for spatial interpolation to construct a three-dimensional grid attribute model, so that the attribute model is quickly constructed while taking into account the geological structure. Through the three-dimensional spatial expression of attribute characteristics, the ore body lithology, grade, mineral content, alteration intensity, metallogenic geological conditions, ore body characteristics, geophysics and geochemistry and other attribute characteristics can be reflected.

[0091] It should be noted that the 3D modeling of the working area in this embodiment requires the fusion of the ground environment model and the underground coal seam structure model to achieve an integrated display of the mine surface and above. The model is lightweight during the model import process to meet the high-performance visualization requirements of the full-space model.

[0092] S200 generates a preset trajectory of the open-pit mining machine according to geological parameters of the working area and working parameters of the open-pit mining machine;

[0093] The method of generating a preset trajectory of an open-pit miner according to the geological parameters of the working area and the working parameters of the open-pit miner includes: judging the mining conditions and suitable mining technology according to the 3D model of the working area. Under certain mining conditions, different mining procedures can be used with the same technology; if different technologies are used, more mining procedures may appear. Different mining procedures can be used for different topographic burial conditions and technical conditions of the mine. At the same time, the economic effect of mining corresponding to the mining procedure should be considered. Only by combining the selection of mining procedures and process methods, properly arranging the development procedures of mining projects in time and space, and establishing an effective development, transportation and plane layout system, can the equipment efficiency be fully utilized and the purpose of economically and effectively developing mines be achieved.

[0094] In one embodiment, the open-pit mining procedure generally refers to the procedure of stripping rocks and mining ore in the mining area. Open-pit mines are generally divided into several steps for mining, and the mining procedure of each step is: digging an entry and exit ditch (generally inclined); digging a section ditch (generally horizontal); expanding the wall. The step height of open-pit mining is better to be higher under the condition of ensuring safe operation, which is conducive to the efficiency of equipment. The steps are usually divided into horizontal layers. In order to facilitate mining and improve equipment efficiency, it is best not to divide ore and soil rock, topsoil and bedrock, soft rock and hard rock into one step. The steps are usually divided into mining belts with a certain width for mining. The mining belt is generally arranged parallel (longitudinally) along the step working line. When transported by car, it can also be arranged perpendicular (horizontally) to the working line as needed, where the mining belt is the preset track in this embodiment.

[0095] S300 detects the real-time position of the open-pit mining machine when it is working, and calculates the working trajectory of the open-pit mining machine based on the detected real-time position;

[0096] In one embodiment, a method for detecting the real-time position of an open-pit mining machine during operation includes: setting a first position sensor at the center of the open-pit mining machine, taking the initial position of the first position sensor as the origin and the axis of a preset trajectory of the open-pit mining machine as the y-axis, and establishing a plane rectangular coordinate system in the working area; determining the position of the open-pit mining machine in the plane rectangular coordinate system according to the real-time position x1 detected by the first position sensor; setting a second position sensor at the cockpit position of the open-pit mining machine, obtaining the real-time position x1 of the first position sensor and the real-time position x2 detected by the second position sensor, It is the forward direction of the open-pit mining machine in the plane rectangular coordinate system; the real-time position x1 of the open-pit mining machine is Combined with the real-time position of the open-pit mining machine.

[0097] In one embodiment, a direction vector x1 detected by the first position sensor and the real-time position x2 detected by the second position sensor can be obtained by connecting the real-time position x1 detected by the first position sensor and the real-time position x2 detected by the second position sensor. The direction of this direction vector is the forward direction of the open-pit mining machine.

[0098] It should be noted that the method for calculating the working trajectory of the open-pit mining machine according to the detected real-time orientation includes: a third position sensor and a fourth position sensor are respectively provided on both sides of the open-pit mining machine; according to the real-time position x3 of the third position sensor and the real-time position x4 detected by the fourth position sensor, the shortest distance between x3 and x4 is the mining width of the open-pit mining machine; combining the real-time position x1 of the open-pit mining machine with the forward direction The area mined during the advance of the open-pit miner, that is, the working trajectory of the open-pit miner, is obtained; wherein the area covered by the working trajectory refers to the area of ​​a closed figure enclosed by the moving trajectory of the third position sensor, the moving trajectory of the fourth position sensor, the x-axis in the plane rectangular coordinate system, and the straight line parallel to the x-axis where the first displacement sensor is located in the plane rectangular coordinate system.

[0099] S400 compares the working trajectory with the preset trajectory to obtain a coincidence parameter between the working trajectory and the preset trajectory, wherein the coincidence parameter is a ratio of a portion of an area covered by the preset trajectory that overlaps with an area covered by the working trajectory to an area covered by the preset trajectory;

[0100] In one embodiment, if Figure 2 As shown, the area covered by the preset trajectory is S1, the area covered by the working trajectory is S2, and the overlapping part of the two is the shaded part, wherein the overlap parameter is equal to the ratio of the area of ​​the shaded part to the area S1 covered by the preset trajectory. The smaller the overlap parameter is, the more obvious the offset is.

[0101] In one embodiment, the calculation process of the overlap parameter is simple. It only needs to record the moving trajectories of the four position sensors and compare them with the preset trajectories to obtain the degree of deviation. No complicated calculations and large amounts of data processing are required. At the same time, the working trajectory and the preset trajectory can be presented on the screen in the operating room, allowing the operator to more intuitively observe the real-time deviation degree of the open-pit mining machine.

[0102] S500 presets multiple correction modes, and sets multiple step judgment thresholds for different correction modes according to the overlap parameters. The preset correction mode is selected by comparing the obtained overlap parameters with the multiple step judgment thresholds.

[0103] In one embodiment, the forward path of the third position sensor is the left boundary of the working trajectory of the open-pit mining machine, and the forward path of the fourth position sensor is the right boundary of the working trajectory of the open-pit mining machine. The above two boundaries and the x-axis in the preset rectangular coordinate system and the straight line parallel to the x-axis where the first position sensor is located form a closed working area. At the same time, the straight line parallel to the x-axis where the first position sensor is located intersects with the preset trajectory, and the closed figure between the straight line parallel to the x-axis where the first position sensor is located and the x-axis is the preset area.

[0104] In one embodiment, if the overlap parameter is greater than or equal to a first preset value, the open-pit mining machine does not need correction; if the overlap parameter is less than the first preset value and greater than or equal to a second preset value, the open-pit mining machine starts an automatic correction mode; if the overlap is less than the second preset value, the open-pit mining machine issues a correction alarm and performs manual correction.

[0105] Preferably, the first preset value is 0.9, and the second preset value is 0.7. When the overlap is greater than 90%, it is considered a slight deviation from the preset trajectory, and the degree of deviation can be ignored; when the overlap is greater than 70% and less than 90%, it is considered a slight deviation, and the correction mechanism of the open-pit mining machine automatically corrects the working trajectory; if the overlap is less than 70%, it is considered a serious deviation, and the staff in the cab of the open-pit mining machine need to perform manual operation to correct the deviation.

[0106] In one embodiment, the automatic deviation correction method for the open-pit mining machine also includes: predicting the future movement trajectory of the open-pit mining machine based on the detected real-time orientation; comparing the future movement trajectory of the open-pit mining machine with a preset trajectory to obtain a coincidence parameter between the future movement trajectory and the preset trajectory; if the coincidence parameter is lower than a preset value, adjusting the working parameters of the open-pit mining machine to correct the movement trajectory of the open-pit mining machine.

[0107] In one embodiment, the automatic deviation correction method of the open-pit mining machine of this embodiment also has the function of predicting the future motion trajectory. The future motion trajectory of the open-pit mining machine is predicted through the real-time forward direction and real-time parameters of the open-pit mining machine, combined with ground environmental data and underground coal seam structure data.

[0108] It should be noted that after predicting the future motion trajectory of the open-pit mining machine and obtaining the future motion trajectory, the actual motion trajectory of the open-pit mining machine can be compared with the future motion trajectory to correct the prediction result and ensure the accuracy of subsequent predictions.

[0109] The present invention also provides an automatic deviation correction system for an open-pit mining machine, the automatic deviation correction system for an open-pit mining machine comprising:

[0110] Modeling module, which performs 3D modeling of the working area, including establishing ground environment model and underground coal seam structure model and predicting the preset trajectory of the open-pit mining machine;

[0111] Unit 1: Methods for establishing ground environment models include:

[0112] Obtain surface aerial survey image database through the UAV platform equipped with oblique photography camera;

[0113] Perform model feature point extraction, aerial triangulation, and multi-view image intensive matching on the surface aerial survey image database;

[0114] Based on the preset dense point cloud database and surface aerial survey image database, irregular 3D grids and texture mapping are constructed to obtain a real 3D model of the ground environment.

[0115] Unit 2: Methods for establishing underground coal seam structural models include:

[0116] Based on profiles, drilling data, discrete points, and multi-layer DEM data, an underground coal seam structural model is established in combination with the morphology, distribution, and contact relationship of strata and ore bodies.

[0117] Unit 3: Based on the 3D model of the working area, determine the mining conditions and suitable mining technology, select the appropriate mining procedure, and predict the specific mining trajectory of the open-pit miner according to the selected mining procedure;

[0118] A detection module, wherein the detection unit is used to detect the real-time position of the open-pit mining machine and calculate the working trajectory of the open-pit mining machine according to the detected real-time position;

[0119] The fourth unit is used to detect the real-time position of the open-pit mining machine when it is working. A first position sensor is set at the center of the open-pit mining machine, and a plane rectangular coordinate system is established in the working area with the initial position of the first position sensor as the origin and the axis of the preset trajectory of the open-pit mining machine as the y-axis;

[0120] Determine the position of the open-pit mining machine in the plane rectangular coordinate system according to the real-time position x1 detected by the first position sensor;

[0121] A second position sensor is set at the cockpit position of the open-pit mining machine to obtain the real-time position x1 of the first position sensor and the real-time position x2 detected by the second position sensor. It is the forward direction of the open-pit mining machine in the plane rectangular coordinate system;

[0122] The real-time position x1 of the open-pit mining machine and the forward direction Combined with the real-time position of the open-pit mining machine;

[0123] A calculation module, wherein the calculation unit is used to calculate the working trajectory of the open-pit mining machine and the coincidence parameter between the working trajectory and the preset trajectory according to the detected real-time orientation;

[0124] The fifth unit is used to detect the real-time position and calculate the working trajectory of the open-pit mining machine, including a third position sensor and a fourth position sensor respectively arranged on both sides of the open-pit mining machine;

[0125] According to the real-time position x3 of the third position sensor and the real-time position x4 detected by the fourth position sensor, the shortest distance between x3 and x4 is the mining width of the open-pit mining machine;

[0126] Combine the real-time position x1 of the open-pit mining machine and the forward direction The area mined during the advance of the open-pit miner, that is, the working trajectory of the open-pit miner, is obtained; wherein the area covered by the working trajectory refers to the area of ​​a closed figure formed by the moving trajectory of the third position sensor, the moving trajectory of the fourth position sensor, the x-axis in the plane rectangular coordinate system, and the straight line parallel to the x-axis where the first displacement sensor is located in the plane rectangular coordinate system;

[0127] The sixth unit is used to compare the working trajectory with the preset trajectory to obtain a coincidence parameter between the working trajectory and the preset trajectory;

[0128] A correction module, wherein the correction unit presets a plurality of correction modes, and sets a plurality of step judgment thresholds for different correction modes according to the overlap parameter, and compares the obtained overlap parameter with the plurality of step judgment thresholds to select the preset correction mode;

[0129] Unit 7, the plurality of step judgment thresholds include a first preset value and a second preset value, the first preset value is greater than the second preset value, and the method for selecting a preset correction mode according to the obtained overlap parameter includes:

[0130] When the overlap parameter is greater than or equal to the first preset value, the open-pit mining machine does not need to correct deviation;

[0131] When the overlap parameter is less than the first preset value and greater than or equal to the second preset value, the open-pit mining machine starts the automatic deviation correction mode;

[0132] When the overlap is less than a second preset value, the open-pit mining machine issues a deviation correction alarm and requires manual deviation correction.

[0133] The present invention also provides a computer-readable storage medium, on which is stored a program for an automatic deviation correction method for an open-pit mining machine. The program for implementing the automatic deviation correction method for an open-pit mining machine is executed by a processor to implement the steps of the above-mentioned deviation correction method for an open-pit mining machine.

[0134] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0135] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0136] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0137] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0138] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An automatic deviation correction method for an open-pit mining machine, characterized in that: include: Conduct 3D modeling of the work area, including the establishment of ground environment models and underground coal seam structure models; Generate a preset trajectory of the open-pit mining machine according to geological parameters of the working area and working parameters of the open-pit mining machine; Detect the real-time position of the open-pit mining machine when it is working, and calculate the working trajectory of the open-pit mining machine according to the detected real-time position; Compare the working trajectory with the preset trajectory to obtain a coincidence parameter between the working trajectory and the preset trajectory, wherein the coincidence parameter is the proportion of the area covered by the preset trajectory that overlaps with the area covered by the working trajectory to the area covered by the preset trajectory; A plurality of correction modes are preset, and a plurality of step judgment thresholds are set for different correction modes according to the overlap parameters. The preset correction mode is selected by comparing the obtained overlap parameters with the plurality of step judgment thresholds.

2. The automatic deviation correction method for open-pit mining machine according to claim 1, characterized in that: Methods for building ground environment models include: Obtain a surface aerial survey image database using a drone platform equipped with an oblique photography camera; Perform model feature point extraction, aerial triangulation, and multi-view image intensive matching on the surface aerial survey image database; Based on the preset dense point cloud database and surface aerial survey image database, irregular 3D grids and texture mapping are constructed to obtain a real 3D model of the ground environment.

3. The automatic deviation correction method for open-pit mining machine according to claim 1, characterized in that: Methods for establishing underground coal seam structural models include: Based on profiles, drilling data, discrete points, and multi-layer DEM data, an underground coal seam structural model is established in combination with the morphology, distribution, and contact relationship of strata and ore bodies.

4. The automatic deviation correction method for open-pit mining machine according to any one of claims 1 to 3, characterized in that: Based on the 3D model of the working area, the mining conditions and suitable mining technology are judged, the appropriate mining procedure is selected, and the specific mining trajectory of the open-pit miner is predicted based on the selected mining procedure.

5. The automatic deviation correction method for open-pit mining machine according to claim 1, characterized in that: Methods for detecting the real-time position of the open-pit mining machine when it is working include: A first position sensor is arranged at the center of the open-pit mining machine, and a plane rectangular coordinate system is established in the working area with the initial position of the first position sensor as the origin and the axis of the preset track of the open-pit mining machine as the y-axis; Determine the position of the open-pit mining machine in the plane rectangular coordinate system according to the real-time position x1 detected by the first position sensor; A second position sensor is set at the cockpit position of the open-pit mining machine to obtain the real-time position x1 of the first position sensor and the real-time position x2 detected by the second position sensor. It is the forward direction of the open-pit mining machine in the plane rectangular coordinate system; The real-time position x1 of the open-pit mining machine and the forward direction Combined with the real-time position of the open-pit mining machine.

6. The automatic deviation correction method for open-pit mining machine according to claim 5, characterized in that: The method for calculating the working trajectory of the open-pit mining machine according to the detected real-time orientation includes: A third position sensor and a fourth position sensor are respectively provided on both sides of the open-pit mining machine; According to the real-time position x3 of the third position sensor and the real-time position x4 detected by the fourth position sensor, the shortest distance between x3 and x4 is the mining width of the open-pit mining machine; Combine the real-time position x1 of the open-pit mining machine and the forward direction The area mined during the advance of the open-pit miner, that is, the working trajectory of the open-pit miner, is obtained; wherein the area covered by the working trajectory refers to the area of ​​a closed figure enclosed by the moving trajectory of the third position sensor, the moving trajectory of the fourth position sensor, the x-axis in the plane rectangular coordinate system, and the straight line parallel to the x-axis where the first displacement sensor is located in the plane rectangular coordinate system.

7. The automatic deviation correction method for open-pit mining machine according to claim 1, characterized in that: The plurality of step judgment thresholds include a first preset value and a second preset value, the first preset value is greater than the second preset value, and the method for selecting a preset correction mode according to the obtained overlap parameter includes: When the overlap parameter is greater than or equal to the first preset value, the open-pit mining machine does not need to correct deviation; When the overlap parameter is less than the first preset value and greater than or equal to the second preset value, the open-pit mining machine starts the automatic deviation correction mode; When the overlap is less than a second preset value, the open-pit mining machine issues a deviation correction alarm and requires manual deviation correction.

8. The automatic deviation correction method for open-pit mining machine according to claim 6, characterized in that: The first preset value is set to 0.9, and the second preset value is set to 0.

7.

9. The automatic deviation correction method for open-pit mining machine according to claim 1, characterized in that: The automatic deviation correction method for the open-pit mining machine also includes: Predict the future movement trajectory of the open-pit mining machine based on real-time position detection; Compare the future motion trajectory of the open-pit mining machine with the preset trajectory to obtain a coincidence parameter between the future motion trajectory and the preset trajectory; If the overlap parameter is lower than the preset value, the working parameters of the open-pit mining machine are adjusted to correct the movement trajectory of the open-pit mining machine.

10. An automatic deviation correction system for an open-pit mining machine, characterized in that: The automatic deviation correction system of the open-pit mining machine comprises: Modeling module, which performs 3D modeling of the working area, including establishing ground environment model and underground coal seam structure model and predicting the preset trajectory of the open-pit mining machine; Unit 1: Methods for establishing ground environment models include: Obtain a surface aerial survey image database using a drone platform equipped with an oblique photography camera; Perform model feature point extraction, aerial triangulation, and multi-view image intensive matching on the surface aerial survey image database; Based on the preset dense point cloud database and surface aerial survey image database, irregular 3D grids and texture mapping are constructed to obtain a real 3D model of the ground environment. Unit 2: Methods for establishing underground coal seam structural models include: Based on profiles, drilling data, discrete points, and multi-layer DEM data, an underground coal seam structural model is established in combination with the morphology, distribution, and contact relationship of strata and ore bodies. Unit 3: Based on the 3D model of the working area, determine the mining conditions and suitable mining technology, select the appropriate mining procedure, and predict the specific mining trajectory of the open-pit miner according to the selected mining procedure; A detection module, wherein the detection unit is used to detect the real-time position of the open-pit mining machine and calculate the working trajectory of the open-pit mining machine according to the detected real-time position; The fourth unit is used to detect the real-time position of the open-pit mining machine when it is working. A first position sensor is set at the center of the open-pit mining machine, and a plane rectangular coordinate system is established in the working area with the initial position of the first position sensor as the origin and the axis of the preset trajectory of the open-pit mining machine as the y-axis; Determine the position of the open-pit mining machine in the plane rectangular coordinate system according to the real-time position x1 detected by the first position sensor; A second position sensor is set at the cockpit position of the open-pit mining machine to obtain the real-time position x1 of the first position sensor and the real-time position x2 detected by the second position sensor. It is the forward direction of the open-pit mining machine in the plane rectangular coordinate system; The real-time position x1 of the open-pit mining machine and the forward direction Combined with the real-time position of the open-pit mining machine; A calculation module, wherein the calculation unit is used to calculate the working trajectory of the open-pit mining machine and the coincidence parameter between the working trajectory and the preset trajectory according to the detected real-time orientation; The fifth unit is used to detect the real-time position and calculate the working trajectory of the open-pit mining machine, including a third position sensor and a fourth position sensor respectively arranged on both sides of the open-pit mining machine; According to the real-time position x3 of the third position sensor and the real-time position x4 detected by the fourth position sensor, the shortest distance between x3 and x4 is the mining width of the open-pit mining machine; Combine the real-time position x1 of the open-pit mining machine and the forward direction The area mined during the advance of the open-pit miner, that is, the working trajectory of the open-pit miner, is obtained; wherein the area covered by the working trajectory refers to the area of ​​a closed figure formed by the moving trajectory of the third position sensor, the moving trajectory of the fourth position sensor, the x-axis in the plane rectangular coordinate system, and the straight line parallel to the x-axis where the first displacement sensor is located in the plane rectangular coordinate system; The sixth unit is used to compare the working trajectory with the preset trajectory to obtain a coincidence parameter between the working trajectory and the preset trajectory; A correction module, wherein the correction unit presets a plurality of correction modes, and sets a plurality of step judgment thresholds for different correction modes according to the overlap parameter, and compares the obtained overlap parameter with the plurality of step judgment thresholds to select the preset correction mode; Unit 7, the plurality of step judgment thresholds include a first preset value and a second preset value, the first preset value is greater than the second preset value, and the method for selecting a preset correction mode according to the obtained overlap parameter includes: When the overlap parameter is greater than or equal to the first preset value, the open-pit mining machine does not need to correct deviation; When the overlap parameter is less than the first preset value and greater than or equal to the second preset value, the open-pit mining machine starts the automatic deviation correction mode; When the overlap is less than a second preset value, the open-pit mining machine issues a deviation correction alarm and requires manual deviation correction.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program for the automatic deviation correction method for an open-pit miner, and the program for implementing the automatic deviation correction method for an open-pit miner is executed by a processor to implement the steps of the method for correcting the deviation of an open-pit miner as claimed in any one of claims 1 to 9.

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