Method for quickly generating short-term plan for strip mine

Abstract

The invention discloses a method for rapidly generating a short-term plan for a strip mine, and belongs to the technical field of strip mine mining plans. The method comprises the following steps: collecting topographic data and slope top and slope bottom line data of a mining area to generate a visual three-dimensional mining area map model; drawing a polyline of an area needing to be mined in the model; generating a short-term plan ore body model and a new slope top line and a new slope bottom line after mining based on the polylines by adopting a polyline slope angle short-term plan generation algorithm; in combination with a short-term plan ore body model and drilling data, the server can quickly generate a short-term plan through design software and quickly calculate the content of coal and rock needing to be mined in the plan; the short-term plan information generated by the software is issued to the electric shovel, and intelligent mining truck scheduling is carried out according to the generation capability of the electric shovel; and meanwhile, the actual mining progress can be fed back to a designer of the server, and the designer can quickly adjust the short-term plan according to the feedback.

Description

Technical Field

[0001] The present invention belongs to the technical field of open-pit mining plans, and in particular relates to a method for quickly generating a short-term plan for an open-pit mine. Background Art

[0002] Open-pit mining short-term planning is a key link to ensure the effective, safe and economical mining of mineral resources, but the current plan mainly relies on two-dimensional mining area maps for planning and uses a block method to estimate the coal rock content. This approach has exposed many problems in practice. Specifically, it is difficult to accurately guide production activities through short-term planning, it is impossible to improve production efficiency through effective scheduling, and it is also impossible to quickly and flexibly adjust plans and vehicle scheduling plans based on real-time production equipment input. Summary of the invention

[0003] In view of the above shortcomings, the purpose of the present invention is to provide a method for quickly generating a short-term plan for an open-pit mine, which solves the problem that a short-term plan cannot be generated quickly and the plan cannot effectively guide production.

[0004] The technical solution adopted by the invention is: a method for quickly generating a short-term plan for an open-pit mine, and its technical key points are the following steps: generating a visual three-dimensional mine map model by collecting terrain data and slope top and bottom line data of the mining area; drawing polylines of the area to be mined in the model; using a polyline slope angle short-term plan generation algorithm to generate a short-term plan ore body model and new slope top and bottom lines after mining based on these polylines; combining the short-term plan ore body model and drilling data to calculate the coal content and rock content in the ore body model; transmitting the short-term plan ore body model and the newly generated slope top and bottom lines to a designated electric shovel terminal via a network to guide the electric shovel for precise excavation.

[0005] Furthermore, the method for generating a short-term planning model comprises the following steps:

[0006] Use the slope vertex and slope angle to project to the bottom of the slope to form a projection circle; find the external tangent line for every two projection circles; the intersection of the four external tangents of the bottom surface of the slope through each projection circle constitutes the vertex set of the bottom line of the slope; find the intersection of the external tangent lines in the closed curve formed by the center of the circle and the first and last endpoints of the polyline; determine the surface equation of the slope surface through the bottom line and the slope vertex; find the intersection of the model slope surface and the top line of the slope; generate short-term planning model vertex data and slope top and bottom line data; use the Deloni algorithm to generate a short-term planning ore body model; generate a new slope top and bottom line.

[0007] Furthermore, the method for finding the intersection of the external common tangent within the closed curve formed by the center of the circle and the two endpoints is as follows: the closed curve formed by the first and last endpoints of the polyline and the center of the circle, the closed curve is a polygon, and it is determined whether the ray emitted from the tangent intersection intersects with the edge of the closed curve: the ray extends horizontally to the right from the tangent intersection, and it is determined whether the ray intersects with each edge. If so, the horizontal coordinate of the intersection is calculated; all edges are traversed in this way, and the number of intersections between the ray and the closed curve is counted. If the number of intersections is an odd number, the tangent intersection is within the closed curve; if the number of intersections is an even number, the tangent intersection is outside the closed curve.

[0008] Furthermore, the method for generating a new top slope line is to replace the original top slope line segment in the short-term plan area with the line segment formed by the point set manually selected at the top slope and its intersection mapped on the side of the short-term plan ore body model, thereby generating a new top slope line.

[0009] Furthermore, the method for generating a new bottom line of the slope is: using a bottom line projection point set of points manually selected at the top of the slope, and a line segment composed of intersection points intersecting with the side of the short-term planned ore body model to replace the original bottom line segment to form a new bottom line of the slope.

[0010] Furthermore, Kriging estimation is used to calculate the coal content and rock content in the ore body model.

[0011] The beneficial effects of the present invention are as follows: the present invention provides a method for quickly generating a short-term plan for an open-pit mine, wherein the server can quickly generate a short-term plan through design software, quickly calculate the coal and rock content required to be mined in the plan, and send the short-term plan information generated by the software to the electric shovel, and perform intelligent mining truck scheduling according to the generation capacity of the electric shovel, and at the same time, can feed back the actual mining progress to the designers on the server, who can quickly adjust the short-term plan based on the feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 Schematic diagram of the projection of the slope vertex to the slope bottom in an embodiment of the present invention;

[0014] Figure 2 A schematic diagram of obtaining an outer common tangent line of a projected circle formed by two slope vertices in an embodiment of the present invention;

[0015] Figure 3A schematic diagram of determining the intersection point of two tangent lines to three adjacent circles in an embodiment of the present invention;

[0016] Figure 4 A schematic diagram of determining the intersection of the external common tangent lines in a closed curve formed by the center of a circle and two end points in an embodiment of the present invention;

[0017] Figure 5 A schematic diagram of a plane determined by three points in an embodiment of the present invention;

[0018] Figure 6 Schematic diagram of the intersection of the model slope surface and the top line of the slope top in an embodiment of the present invention;

[0019] Figure 7 Generating vertex data and slope top and bottom line data of a short-term planning model in an embodiment of the present invention;

[0020] Figure 8 A schematic diagram of a three-dimensional model of an ore body in an embodiment of the present invention;

[0021] Fig. 9 Schematic diagram of the top and bottom lines of the slope in the embodiment of the present invention;

[0022] Fig.10 The present invention is a flowchart of a method for quickly generating a short-term plan for an open-pit mine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] To make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the following is a brief description of the present invention in conjunction with the attached Figure 1-Figure 10 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0024] This embodiment adopts a method for quickly generating a short-term plan for an open-pit mine, and the specific steps are as follows:

[0025] Step 1: In this embodiment, terrain data and slope top and bottom line data are collected in the mining area by equipment such as drones;

[0026] Step 2: Use the data collected in step 1 as input to the VTK library to generate a visual three-dimensional mining area map model.

[0027] Step 3: Use mouse clicks to draw a polyline of the area to be mined, and generate a short-term plan ore body model and an updated slope bottom and top line through a polyline slope angle short-term plan generation algorithm. In this embodiment, the steps of generating a short-term plan ore body model include:

[0028] Step 3.1: Project the top of the slope to the bottom of the slope.

[0029] The distance from the top of the slope to the bottom of the slope (z p -z min) and slope angle α, calculate the radius r of the projection circle of the slope vertex on the slope bottom, draw a circle with the projection point of the slope vertex on the xy plane of the slope bottom as the center and r as the radius, and project the slope vertex to the slope bottom as follows:

[0030] r=(z p -z min )cscα

[0031] In the formula, z p is the height of the slope vertex, z min is the height of the slope bottom, and α is the slope angle.

[0032] Step 3.2: Find the external common tangent line of the projected circle formed by every two slope vertices.

[0033] Using the projection circle of the bottom surface of the slope and the two endpoints of the bottom of the slope, calculate the external tangent of the circle, specifically:

[0034] Assume that the centers of the two circles are O1 and O2, the radii are r1 and r2, and the distance between the centers is d = |O1O2|. If d>r1+r2, then the external common tangent can be found:

[0035] Assume that the external common tangents of the two circles are divided into two, upper and lower, respectively, the upper external common tangent and the lower external common tangent. Determine the inclination angle: The inclination angle (angle θ) of the external common tangent can be determined by the following formula:

[0036]

[0037] Tangent point calculation:

[0038] Suppose the points of tangency of the upper external common tangent are A and B, and the points of tangency of the lower external common tangent are C and D. A and C are on circle O1, and B and D are on circle O2. The positions of the points of tangency can be obtained by rotating the line connecting the centers of the circles O1O2 and translating them outward by r1 and r2.

[0039] Determine the tangent line equations: Use the location of the tangent point and the center of the circle to find the straight line equations of the upper common tangent line and the lower common tangent line, respectively.

[0040] Step 3.3: The intersection points of the four external tangent lines of the bottom surface of the slope passing through each projection circle constitute the vertex set of the bottom line of the slope.

[0041] To find the intersection of two tangent lines, we must first determine their equations. Generally speaking, the equation of the tangent line can be expressed by the general formula Ax+By=C. Assume that the equations of the two lines are:

[0042] The equation of the line L1: A1x+B1y=C1

[0043] The equation of line L2: A2x+B2y=C2

[0044] Use the determinant method or elimination method:

[0045] Determinant solution: Determinant D = A1B2 + A2B1. If D≠0, it means that the two lines intersect, and the coordinates of the intersection are (x, y):

[0046]

[0047] Step 3.4: Find the intersection point of the external common tangent lines in the closed curve formed by the center of the circle and the first and last endpoints of the polyline.

[0048] Determine whether the intersection of the external common tangents is within the closed curve formed by the center of the circle and the first and last endpoints of the polyline, and use the intersection of the common tangents and the endpoints within the closed curve to link in sequence to form a new slope bottom line.

[0049] Assume that the closed curve formed by the bottom point of the slope and the center of the circle consists of n lines, and each side is defined by two points:

[0050] (x i ,y i ) and (x i+1 ,y i+1 )(i=1,2,...,n,and(x n+1 ,y n+1 )=(x1,y1)).

[0051] The tangent intersection point is (x0, y0)

[0052] Step 3.4.1: Determine the condition under which the ray emitted from the tangent intersection point (x0, y0) intersects the edge.

[0053] The ray extends horizontally from (x0, y0) to the right, and it is necessary to determine whether it intersects with each edge (x i ,y i ) and (x i+1 ,y i+1 )intersect.

[0054] Edge(x i ,y i ) and (x i+1 ,y i+1 ) may intersect with a ray if the following conditions are met:

[0055] y0∈min(y i ,y i+1 ), max(y i ,y i+1 )] and y i ≠y i+1 ·

[0056] Step 3.4.2: Calculate the x-coordinate of the intersection point

[0057] If the above conditions are met, the intersection point x of the horizontal line y=y0 of the ray and the edge intersect The calculation formula is:

[0058]

[0059] Step 3.4.3: Determine the intersection position

[0060] If x intersect >x0, the ray does intersect the edge and the intersection count increases by 1.

[0061] Traverse all edges and count the number of intersections N between the ray and the closed curve

[0062] If the number of intersection points N is an odd number, the point (x0, y0) is inside the closed curve;

[0063] If the number of intersection points N is even, the point (x0, y0) is outside the closed curve.

[0064] All the tangent intersection points in the closed curve are linked in sequence to form a new slope bottom line, such as Figure 4 shown.

[0065] Step 3.5: Determine the surface equation of the slope surface through the slope base and slope vertex

[0066] Determine the first slope surface equation passing through three points by the first point at the bottom of the slope, the first point at the top of the slope, and the first point where the tangent line found at the bottom of the slope intersects. Determine the last slope surface equation passing through three points by the last point at the bottom of the slope, the last point at the top of the slope, and the last point where the tangent line found at the bottom of the slope intersects: Assuming that the three points are A(x1,y1,z1), B(x2,y2,z2), and C(x3,y3,z3), calculate two vectors: Use these three points to construct two vectors and

[0067]

[0068] Calculate the normal vector: pass the vector and The cross product of The letters "A'", "B'", and "C'" represent the x, y, and z coefficients of the plane equation, and D represents the constant.

[0069] Expand the determinant and get in:

[0070] 1.A′=(y2-y1)(z3-z1)-(z2-z1)(y3-y1)

[0071] 2.B′=(z2-z1)(x3-x1)-(x2-x1)(z3-z1)

[0072] 3.C′=(x2-x1)(yx3-y1)-(y2-y1)(x3-x1)

[0073] Determine the equation of the plane: The equation of a plane can be written as:

[0074] A′(-x1)+B′(y-y1)+C′(z-z1)=0

[0075] Or expanded to:

[0076] A′x+B′y+C′z+D=0

[0077] The equation obtained in this way is the equation of the plane determined by three points, such as Figure 5 shown.

[0078] Step 3.6. Find the intersection of the model slope and the top slope line, such as Figure 6 shown.

[0079] Use the surface equations of the top and bottom lines of the slope and the first and last slope surfaces found in the previous step to determine whether the line segment on the top and bottom lines of the slope intersects with the two slope surfaces, find the intersection point as the vertex on the new top and bottom lines of the slope, and assume that the plane equation formula of the slope surface is: A′x+B′y+C′z+D=0; assume that the two endpoints of each line segment on the top and bottom lines of the slope are P1(x1,y1,z1) and P2(x2,y2,z2), and establish the parametric equation of the line segment: In this implementation, the parameter t (value range is [0,1]) is used to represent any point P(t) on the line segment, and its coordinates are:

[0080] P(t)=(x+y+z)=(x1+t(x2-x1),y1+t(y2-y1),z1+t(z2-z1))

[0081] Among them, t=0 is point P1, and t=1 is point P2.

[0082] Substitute the coordinates of P(t)P into the plane equation A′x+B′y+C′z+D=0, and you get the equation for t: A′(x1+t(x2+x1))+B′(y1+t(y2+y1))+C′(z1+t(z2+z1))+D=0

[0083] After expanding and sorting, we get:

[0084] t(A′(x2-x1)+B′(y2-y1)+C′(z2-z1))+(A′x1+B′y1+C′z1+D)=0

[0085] Solve for parameter t: Express the above equation as:

[0086] t·(A′Δx+B′Δy+C′Δz)=(A′x1+B′y1+C′z1+D)

[0087] Among them Δx=x2-x1, Δy=x2-x1, Δx=x2-x1

[0088] The solution is:

[0089] Determine whether the intersection point is on the line segment:

[0090] If the value of t is in the range of [0,1], the intersection point is on the line segment and the coordinates of the intersection point can be calculated by P(t); if t<0 or t>1, the intersection point is not on the line segment, indicating that the line segment and the plane have no intersection point.

[0091] Find the intersection coordinates (if t∈[0,1]): Substitute t into the parametric equation P(t) to get the intersection coordinates

[0092] P=(x1+t(x2-x1),y1+t(y2-y1),z1+t(z2-z1))

[0093] 3.7. Generate short-term planning model vertex data and slope top and bottom line data, such as Figure 7 shown.

[0094] Use the intersection of the side and the top line to intercept the top line, and obtain a line segment after interception. The points on the line segment and the points formed by clicking the mouse at the top of the slope constitute the upper edge of the ore body model of the short-term plan. Use the intersection of the side and the bottom of the slope to intercept the bottom line of the slope to obtain a line segment after interception. Use the points on the line segment and the points formed by clicking the mouse at the top of the slope as projection points on the XY plane of the bottom of the slope to constitute the lower edge of the ore body model of the short-term plan.

[0095] Step 3.7: Generate a short-term planning orebody model using the Delaunay algorithm

[0096] Use the intersection points of the slope surface and the top and bottom lines found in the previous step, the points where the manually input polyline falls on the top surface of the slope, and the projection points of these points on the bottom surface of the slope as the input of the point information of Deloni 3D to generate a three-dimensional model of the short-term planned ore body.

[0097] Step 3.9: Generate new top and bottom slopes

[0098] Use the line segment formed by clicking the point formed by the mouse at the top of the slope and the intersection of the side of the short-term plan ore body model and the top of the slope line to replace the line segment of the top of the slope line in the short-term plan area to form a new top of the slope line. Similarly, use the line segment formed by clicking the point formed by the mouse at the top of the slope and the projection point at the bottom of the slope and the intersection of the side of the short-term plan ore body model and the bottom of the slope to replace the line segment of the bottom of the slope line in the short-term plan area to form a new bottom of the slope line. Figure 8 The line segment passing through the blue point is the newly formed top and bottom line of the slope, and the part with blue points but no line segment passing through is the position of the original top and bottom line of the slope.

[0099] Step 4: Calculate the coal content and rock content of the short-term planning ore body model through the short-term planning ore body model and drilling data.

[0100] The coal rock content of the drilling sampling points in the mining area is used as the sampling point data set for Kriging valuation. The cube area formed by the maximum and minimum values ​​of the X, Y, and Z vertices of the short-term planning model is used as the valuation area. The short-term planning model and the estimated cube model are used for Boolean operation to obtain the intersection, and the estimated short-term planning block model is obtained. The coal content of each block in the block model is accumulated, and the accumulated result is divided by the total number of blocks to obtain the average coal content in the block. The total coal content is obtained by multiplying the average value by the total volume of the short-term planning model. The total volume of the short-term planning model minus the coal content is used to obtain the total rock content.

[0101] Step 5: Send the short-term planned ore body model and the updated top and bottom lines of the slope to the designated electric shovel terminal through the network. The model and top and bottom lines of the slope can guide the electric shovel to perform precise excavation. At the same time, the calculated coal and rock quantities can also provide effective data support for the scheduling of vehicle allocation.

[0102] The vehicle terminal establishes a connection through the websocket server, and the server can send the short-term plan message to the designated vehicle terminal through websocket communication. After receiving the message, the vehicle terminal parses the download URL in the message and uses the https communication protocol to download the short-term plan 3D model file specified in the message. The short-term plan model file generated by the design software, the slope top and bottom line file, and the estimated coal and rock reserves information in the short-term plan are sent to the designated vehicle through the server for display.

[0103] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for quickly generating short-term plans for open-pit mines, characterized in that , including the following steps: by collecting the terrain data and slope top and bottom line data of the mining area, a visual three-dimensional mining area map model is generated; the polylines of the area to be mined are drawn in the model; the short-term plan generation algorithm of the polyline slope angle is used to generate the short-term plan ore body model and the new slope top and bottom lines after mining based on these polylines; the coal content and rock content in the ore body model are calculated by combining the short-term plan ore body model and the drilling data; the short-term plan ore body model and the newly generated slope top and bottom lines are transmitted to the designated electric shovel terminal through the network to guide the electric shovel to perform precise excavation.

2. A method for quickly generating a short-term plan for an open-pit mine as claimed in claim 1, characterized in that ,The method for generating a short-term planning model comprises the following steps: Use the slope vertex and slope angle to project to the bottom of the slope to form a projection circle; find the external tangent line for every two projection circles; the intersection of the four external tangents of the bottom surface of the slope through each projection circle constitutes the vertex set of the bottom line of the slope; find the intersection of the external tangent lines in the closed curve formed by the center of the circle and the first and last endpoints of the polyline; determine the surface equation of the slope surface through the bottom line and the slope vertex; find the intersection of the model slope surface and the top line of the slope; generate short-term planning model vertex data and slope top and bottom line data; use the Deloni algorithm to generate a short-term planning ore body model; generate a new slope top and bottom line.

3. A method for quickly generating a short-term plan for an open-pit mine as claimed in claim 2, characterized in that The method for finding the intersection of the external common tangents in the closed curve formed by the center of the circle and the first and last endpoints of the polyline is as follows: assuming a closed curve composed of the bottom point of the slope and the center of the circle, determine whether the ray emitted from the tangent intersection intersects with the edge: the ray extends horizontally to the right from the tangent intersection, and determines whether the ray intersects with each edge. If so, calculate the horizontal coordinate of the intersection; traverse all edges in this way, and count the number of intersections between the ray and the closed curve. If the number of intersections is an odd number, the tangent intersection is within the closed curve; if the number of intersections is an even number, the tangent intersection is outside the closed curve.

4. A method for quickly generating a short-term plan for an open-pit mine as claimed in claim 2, characterized in that ,The method of generating a new top of the slope is as follows: the line segment formed by the ,point set manually selected on the top of the slope and its intersection ,mapped on the side of the short-term plan ore body model is used to replace the ,original top of the slope segment in the short-term plan area, thereby generating a new top of the slope.

5. A method for quickly generating a short-term plan for an open-pit mine as claimed in claim 2, characterized in that ,The method of generating a new bottom line of the slope is as follows: the bottom line of the slope is replaced by the ,slope bottom projection point set of the points manually selected at the top of the slope, and the line segment composed of the intersection points ,intersecting with the side of the short-term planned ore body model, to form a new bottom line of the slope.

6. A method for quickly generating a short-term plan for an open-pit mine as claimed in claim 1, characterized in that , the coal content and rock content in the described ore body model are calculated using Kriging estimation.

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