Intelligent hole searching and hole depth measuring method and system for surface mine

Abstract

The invention provides an intelligent hole searching and hole depth measuring method and system for a surface mine. The intelligent hole searching and hole depth measuring method for the surface mine comprises the following steps that a global map of a to-be-detected area is constructed; using the global map to identify and mark all blast hole center points; and hole depth measurement is carried out on each blast hole. According to the technical scheme, the quality of the inner wall of the blast hole before blasting operation is accurately checked, the depth of the blast hole is accurately measured, the workload of hole searching and hole measuring personnel is reduced, the blasting operation quality is improved, and the intelligent level of the surface mine blasting technology is improved.

Description

Background Art

[0002] At present, deep hole step blasting is the main mining method in open-pit mines. This method requires a large number of blast holes, a long drilling operation time, and is prone to undesirable phenomena such as blast hole inner wall collapse and water seepage in the hole. In order to ensure the blasting effect, it is necessary to inspect the inner wall of the blast hole and measure the depth of the blast hole before the blasting operation. At this stage, conventional inspection and measurement methods still rely on manual labor, which seriously affects production efficiency. Summary of the invention

[0003] The present application provides an open-pit mine intelligent hole finding and hole depth measurement method and system for improving the quality of blasting operations and increasing mining efficiency.

[0004] In a first aspect, a method for intelligent hole finding and hole depth measurement in an open-pit mine is provided, comprising the following steps:

[0005] Build a global map of the area to be inspected;

[0006] Using the global map, identifying and marking the center points of all blastholes;

[0007] The hole depth of each blast hole is measured.

[0008] In the above technical scheme, a global map of the area to be inspected is constructed; the center points of all blastholes are identified and marked using the global map; the depth of each blasthole is measured; the quality of the inner wall of the blasthole before the blasting operation is accurately checked and the depth of the blasthole is measured, which reduces the workload of hole finders and hole measuring personnel, improves the quality of blasting operations, and improves the intelligence level of open-pit mine blasting technology.

[0009] In a specific implementation scheme, the step of constructing a global map of the area to be detected is specifically as follows:

[0010] The entire area to be detected is scanned, and the global map of the area to be detected is constructed using the Cartographer algorithm.

[0011] In a specific implementation scheme, the steps of identifying and marking the center points of all blastholes using the global map are as follows:

[0012] Using the global map, the Hough gradient method is used to identify and mark the center points of all blastholes.

[0013] In a specific implementation scheme, the step of measuring the hole depth of each blasthole specifically includes:

[0014] Select a point near each blast hole and number the selected point;

[0015] Intelligent hole depth measurement is performed at selected points in sequence.

[0016] In a specific implementation scheme, the AMCL algorithm is used to determine the real-time position of the hole depth measuring device in the global map.

[0017] In a specific implementation scheme, an A* algorithm is used to perform waypoint navigation on the hole depth measuring device.

[0018] In a specific implementation manner, the further step includes: storing all blasthole depths in the area to be detected.

[0019] In the second aspect, an open-pit mine intelligent hole finding and hole depth measurement system is provided, comprising:

[0020] A global map construction module is used to construct a global map of the area to be detected;

[0021] The blasthole identification and marking module is used to identify the center and radius of the blasthole and mark the center point of the blasthole;

[0022] The perception and measurement module is used to perceive environmental information and measure the depth of the blasthole.

[0023] In the above technical scheme, a global map of the area to be inspected is constructed; the center points of all blastholes are identified and marked using the global map; the depth of each blasthole is measured; the quality of the inner wall of the blasthole before the blasting operation is accurately checked and the depth of the blasthole is measured, which reduces the workload of hole finders and hole measuring personnel, improves the quality of blasting operations, and improves the intelligence level of open-pit mine blasting technology.

[0024] In a specific embodiment, it also includes:

[0025] The positioning and path planning module is used to determine the real-time position in the global map and perform path planning.

[0026] In a specific embodiment, it also includes:

[0027] A blasthole data storage module, used to store all blasthole depths in the area to be detected;

[0028] The crawler-type mobile module is used to carry the device and move it to the designated location. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flowchart of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application;

[0030] Figure 2 A flow chart of step S2 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application;

[0031] Figure 3Flow chart of step S3 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application;

[0032] Figure 4 A flow chart of step S4 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application;

[0033] Figure 5 Flow chart of step S6 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application;

[0034] Figure 6 Flow chart of step S7 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of the structure of an open-pit mine intelligent hole finding and hole depth measurement system provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of the intelligent hole finding and hole depth measurement process for an open-pit mine provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The present application is further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present application will become clearer and more specific.

[0038] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0039] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0040] To facilitate understanding of the open-pit mine intelligent hole-finding and hole depth measurement method and system provided in the embodiment of the present application, its application scenario is first explained. The open-pit mine intelligent hole-finding and hole depth measurement method and system provided in the embodiment of the present application are used to improve the quality of blasting operations and improve mining efficiency. At present, deep hole step blasting is the main mining method in open-pit mines. This method has a large number of blasting holes, a long drilling operation time, and is prone to undesirable phenomena such as collapse of the inner wall of the blasthole and water seepage in the hole. In order to ensure the blasting effect, it is necessary to check the inner wall of the blasthole and measure the depth of the blasthole before the blasting operation. At this stage, conventional inspection and measurement methods still rely on manual labor, which seriously affects production efficiency. For this reason, the embodiment of the present application provides an open-pit mine intelligent hole-finding and hole depth measurement method and system to improve the quality of blasting operations and improve mining efficiency. The following is a detailed description of the embodiment in conjunction with specific drawings.

[0041] refer to Figures 1 to 8 , Figure 1 A flowchart of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application; Figure 2 A flow chart of step S2 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application; Figure 3 Flow chart of step S3 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application; Figure 4 A flow chart of step S4 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application; Figure 5 Flow chart of step S6 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application; Figure 6 Flow chart of step S7 of the method for intelligent hole finding and hole depth measurement in an open-pit mine provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of an open-pit mine intelligent hole finding and hole depth measurement system provided in an embodiment of the present application; Figure 8 A schematic diagram of the intelligent hole finding and hole depth measurement process for an open-pit mine provided in an embodiment of the present application.

[0042] exist Figure 1 In the embodiment of the present application, a method for intelligent hole finding and hole depth measurement in an open-pit mine is provided, comprising the following steps:

[0043] Build a global map of the area to be inspected;

[0044] Using the global map, identifying and marking the center points of all blastholes;

[0045] The hole depth of each blast hole is measured.

[0046] In the above technical scheme, a global map of the area to be inspected is constructed; the center points of all blastholes are identified and marked using the global map; the depth of each blasthole is measured; the quality of the inner wall of the blasthole before the blasting operation is accurately checked and the depth of the blasthole is measured, which reduces the workload of hole finders and hole measuring personnel, improves the quality of blasting operations, and improves the intelligence level of open-pit mine blasting technology.

[0047] In a specific implementation scheme, the step of constructing a global map of the area to be detected is specifically as follows:

[0048] The entire area to be detected is scanned, and the global map of the area to be detected is constructed using the Cartographer algorithm.

[0049] Specifically, establishing a global map of the area to be detected includes: using relevant sensors in the perception and measurement module to perceive the environment; fusing the lidar, odometer and IMU information; using a certain amount of fused data to build a local map; and eliminating the accumulated errors between local maps through loop detection to form a global map.

[0050] In a specific implementation scheme, the steps of identifying and marking the center points of all blastholes using the global map are as follows:

[0051] Using the global map, the Hough gradient method is used to identify and mark the center points of all blastholes.

[0052] Specifically, identifying and marking the center points of all blastholes includes:

[0053] Perform edge detection on the global map to obtain a binary boundary map of the global map;

[0054] Calculate the gradient of the binary map of the global map boundary; use the Hough gradient method to traverse the non-zero points in the map, draw line segments along the gradient direction and the opposite direction, and count the points passed by the line segments; the point with the largest number of points passed by the line segment is considered to be the center of the circle; calculate the distance between the non-zero point in the map and the center of the circle; set the possible radius range, starting from the minimum radius, and record the number of non-zero points with the minimum radius from the center of the circle; gradually increase the radius according to the set radius gradient, record the number of non-zero points with the radius from the center of the circle, and repeat this step to the set maximum radius; compare the ratio of the number of non-zero points under different radii to their corresponding radii, and the radius value of the group with the highest ratio is considered to be the optimal radius.

[0055] In a specific implementation scheme, the step of measuring the hole depth of each blasthole specifically includes:

[0056] Select a point near each blast hole and number the selected point;

[0057] Intelligent hole depth measurement is performed at selected points in sequence.

[0058] In a specific implementation scheme, the AMCL algorithm is used to determine the real-time position of the hole depth measuring device in the global map.

[0059] Specifically, the AMCL algorithm determines the real-time position of the system in the global map, including: the AMCL algorithm randomly distributes particles representing the system's posture in the global map; uses the extended Kalman filter to fuse IMU and odometer data to predict the posture of all random particles; and updates the weights of all random particles based on the lidar data. The final converged position of the particles is the actual position of the system in the global map.

[0060] In a specific implementation scheme, an A* algorithm is used to perform waypoint navigation on the hole depth measuring device.

[0061] Specifically, the A* algorithm performs waypoint navigation including: taking the initial position as the starting point and the first selected point as the target point to plan the first segment of the path; according to the evaluation function of the A* algorithm, starting from the starting point, searching for the node with the smallest moving cost nearby as the next search node, until expanding to the first selected point, and determining the first segment of the path planning plan; when the system completes the task at the first selected point, it takes the first selected point as the starting point and the second selected point as the target point to plan the second segment of the path; repeating the above steps until the last selected point.

[0062] In a specific implementation manner, the further step includes: storing all blasthole depths in the area to be detected.

[0063] Specifically, intelligent hole depth measurement and data storage are performed at selected points in sequence, including: when the system reaches the selected point, it stops moving, the robotic arm of the sensing and measuring module unfolds, and the hole depth meter installed at its end is moved vertically above the center point of the blasthole; the weight of the hole depth meter is lowered into the blasthole to measure the hole depth and the measurement data is sent to the blasthole data storage module; all blasthole depths in the area to be detected are saved, allowing the user to export the measurement data.

[0064] refer to Figures 1 to 6 Specifically, the open-pit mine intelligent hole finding and hole depth measurement method includes:

[0065] S1 relies on the crawler-type mobile module to perform full-area scanning of the area to be inspected;

[0066] S2 combines the Cartographer algorithm of the global map construction module to build a global map of the area to be detected; including: S201 uses the relevant sensors in the perception and measurement module to perceive the environment; S202 fuses the lidar, odometer and IMU information; S203 uses a certain amount of fused data to build a local map; S204 eliminates the accumulated errors between local maps through loop detection to form a global map.

[0067] S3 uses the Hough gradient method in the blasthole identification and marking module to identify and mark the center points of all blastholes; including: S301 performs edge detection on the global map to obtain the boundary binary map of the global map; S302 calculates the gradient of the boundary binary map of the global map; S303 uses the Hough gradient method to traverse the non-zero points in the map, draws line segments along the gradient direction and the opposite direction, and counts the points passed by the line segments; S304 The point with the largest count among the points passed by the line segment is considered to be the center of the circle; S305 calculates the distance between the non-zero point in the map and the center of the circle; S306 sets the possible radius range, starting from the minimum radius, and records the number of non-zero points with the minimum radius from the center of the circle; S307 gradually increases the radius according to the set radius gradient, records the number of non-zero points with the radius from the center of the circle, and repeats this step to the set maximum radius; S308 compares the ratio of the number of non-zero points under different radii to their corresponding radii, and the radius value of the group with the highest ratio is considered to be the optimal radius.

[0068] S4 uses the AMCL algorithm in the positioning and path planning module to determine the real-time position of the system in the global map; including: S401 AMCL algorithm randomly distributes particles representing the system posture in the global map; S402 uses extended Kalman filtering to fuse IMU and odometer data to predict the posture of all random particles; S403 updates the weights of all random particles according to the lidar data, and the final convergence position of the particles is the actual position of the system in the global map.

[0069] With the help of the human-computer interface, S5 selects a point near each blast hole in turn, and the system numbers the selected points according to the selection order;

[0070] S6 uses the A* algorithm in the positioning and path planning module for waypoint navigation; including:

[0071] S601 takes the initial position as the starting point and the first selected point as the target point to plan the first segment of the path; S602 searches for the node with the smallest moving cost nearby from the starting point according to the evaluation function of the A* algorithm as the next search node, until it expands to the first selected point and determines the first segment of the path planning plan; S603 When the system completes the task at the first selected point, it takes the first selected point as the starting point and the second selected point as the target point to plan the second segment of the path; S604 repeats the above steps until the last selected point.

[0072] S7 performs intelligent hole depth measurement and data storage at the selected points in turn. Including: S701 When the system reaches the selected point, it stops moving, the mechanical arm of the sensing and measuring module unfolds, and moves the hole depth measuring instrument installed at its end to the vertical upper side of the center point of the blasthole; S702 The weight of the hole depth measuring instrument is lowered into the blasthole to measure the hole depth and send the measurement data to the blasthole data storage module; S703 Save all the blasthole depths in the area to be detected, allowing users to export the measurement data.

[0073] In this embodiment, the open-pit mine intelligent hole finding and hole depth measurement method has the functions of regional scanning, global map construction, blasthole center identification, real-time positioning, waypoint navigation and intelligent hole depth measurement, which can effectively reduce the workload of hole finding and hole measuring personnel, significantly improve the standardization of hole wall quality inspection and the accuracy of blasthole depth measurement, improve the quality of blasting operations and production efficiency, and improve the intelligence level of open-pit mine blasting technology.

[0074] exist Figure 7 In the embodiment of the present application, an open-pit mine intelligent hole finding and hole depth measurement system is provided, comprising:

[0075] A global map construction module is used to construct a global map of the area to be detected;

[0076] The blasthole identification and marking module is used to identify the center and radius of the blasthole and mark the center point of the blasthole;

[0077] The perception and measurement module is used to perceive environmental information and measure the depth of the blasthole.

[0078] In the above technical scheme, a global map of the area to be inspected is constructed; the center points of all blastholes are identified and marked using the global map; the depth of each blasthole is measured; the quality of the inner wall of the blasthole before the blasting operation is accurately checked and the depth of the blasthole is measured, which reduces the workload of hole finders and hole measuring personnel, improves the quality of blasting operations, and improves the intelligence level of open-pit mine blasting technology.

[0079] In a specific embodiment, it also includes:

[0080] The positioning and path planning module is used to determine the real-time position in the global map and perform path planning.

[0081] In a specific embodiment, it also includes:

[0082] A blasthole data storage module, used to store all blasthole depths in the area to be detected;

[0083] The crawler-type mobile module is used to carry the device and move it to the designated location.

[0084] Specifically, refer to Figure 7 and Figure 8 The open-pit mine intelligent hole finding and hole depth measurement system specifically includes: a crawler mobile module, a perception and measurement module, a global map building module, a blasthole identification and marking module, a positioning and path planning module, and a blasthole data storage module.

[0085] The crawler mobile module S801 is used to carry all the devices of the system and move them to the designated location;

[0086] The perception and measurement module S802 includes a laser radar, an IMU, an odometer, a robotic arm, and a hole depth measuring instrument, which are used to perceive environmental information and measure the depth of the blasthole;

[0087] The global map construction module S803 is used to construct a global map of the area to be detected;

[0088] The blasthole identification and marking module S804 is used to identify the center and radius of the blasthole and mark the center point of the blasthole;

[0089] The positioning and path planning module S805 is used to determine the real-time position of the system in the global map;

[0090] The blasthole data storage module S806 is used to store all blasthole depths in the area to be detected, allowing the user to export the measurement data.

[0091] In this embodiment, a variety of intelligent algorithms are combined and a variety of sensors are used to perform hole finding and hole depth measurement for open-pit mine blasting, thereby reducing the workload of hole finding and hole measurement personnel, improving the quality of blasting operations, and enhancing the intelligence level of open-pit mine blasting technology.

[0092] Those skilled in the art will appreciate that the present application may be implemented as a system, method or computer program product.

[0093] Therefore, the present disclosure may be specifically implemented in the following forms, namely: it may be completely hardware, it may be completely software (including firmware, resident software, microcode, etc.), or it may be a combination of hardware and software, generally referred to herein as a "circuit", "module" or "system". In addition, in some embodiments, the present application may also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium may contain computer-readable program code.

[0094] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0095] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art can change, modify, replace and modify the above embodiments within the scope of the present application. On this basis, a variety of replacements and improvements can be made to the present application, all of which fall within the scope of protection of the present application.

Claims

1. An intelligent hole finding and hole depth measurement method for open-pit mines, characterized in that: The following steps are involved: Build a global map of the area to be inspected; Using the global map, identifying and marking the center points of all blastholes; The hole depth of each blast hole is measured.

2. The method for intelligent hole finding and hole depth measurement in open-pit mines according to claim 1, characterized in that: The steps to construct a global map of the area to be detected are as follows: The entire area to be detected is scanned, and the global map of the area to be detected is constructed using the Cartographer algorithm.

3. The method for intelligent hole finding and hole depth measurement in open-pit mines according to claim 2 is characterized in that: The steps of identifying and marking the center points of all blastholes using the global map are specifically as follows: Using the global map, the Hough gradient method is used to identify and mark the center points of all blastholes.

4. The method for intelligent hole finding and hole depth measurement in open-pit mines according to claim 3 is characterized in that: The steps for measuring the hole depth of each blasthole include: Select a point near each blast hole and number the selected point; Intelligent hole depth measurement is performed at selected points in sequence.

5. The method for intelligent hole finding and hole depth measurement in open-pit mines according to claim 4, characterized in that: The AMCL algorithm is used to determine the real-time position of the hole depth measuring device in the global map.

6. The method for intelligent hole finding and hole depth measurement in an open-pit mine according to claim 5, characterized in that: The A* algorithm is used to perform waypoint navigation on the hole depth measuring device.

7. The method for intelligent hole finding and hole depth measurement in an open-pit mine according to claim 6, characterized in that: Also includes: All blasthole depths in the area to be detected are stored.

8. An open-pit mine intelligent hole finding and hole depth measurement system, characterized in that: include: A global map construction module is used to construct a global map of the area to be detected; The blasthole identification and marking module is used to identify the center and radius of the blasthole and mark the center point of the blasthole; The perception and measurement module is used to perceive environmental information and measure the depth of the blasthole.

9. The open-pit mine intelligent hole finding and hole depth measurement system according to claim 8, characterized in that: Also includes: The positioning and path planning module is used to determine the real-time position in the global map and perform path planning.

10. The open-pit mine intelligent hole finding and hole depth measurement system according to claim 9, characterized in that: Also includes: A blasthole data storage module, used to store all blasthole depths in the area to be detected; The crawler-type mobile module is used to carry the device and move it to the designated location.

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