Open-pit mine dump line retaining wall detection method and system and unmanned dump operation vehicle

Abstract

The application discloses a kind of open-pit mine dump line retaining wall detection method, system and unmanned dump operation vehicle, and detection method includes: driving dump operation vehicle to the reverse slope ground in front of retaining wall, utilize sensor on operation vehicle to scan space point cloud, obtain space point set;With multiple virtual rays as the origin of sensor, with the vertical direction Z axis to form multiple virtual profiles;With the virtual profile that space point set has intersection is determined as effective profile;And with the space point in space point set, determine as the profile space point of corresponding effective profile that falls on effective profile;On each effective profile, utilize corresponding profile space point, first straight line and second straight line are fitted to obtain, and the intersection of first straight line and second straight line is determined, and it is recorded as slope ground contact point;The slope ground contact point in each effective profile is fitted to obtain the position line of dump line retaining wall.The application accurately extracts retaining wall parameter to assess whether retaining wall meets production safety requirement.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and in particular to a method, system and unmanned dumping operation vehicle for detecting retaining walls at open-pit mine dumping lines. Background Technology

[0002] Open-pit mine spoil disposal is the process of stripping away the overburden (waste rock, topsoil, etc.) during open-pit mining, then transporting and dumping it at a designated spoil disposal site. Excavators and other equipment are used to strip the rock and soil covering the ore body, loading it into mine trucks or other transport vehicles, which then transport it to the designated spoil disposal site. The stripped material is then dumped at the designated location, and loaders level the ground and repair the spoil disposal line retaining walls. During the dumping of the mine trucks and the operation of the loaders, the spoil disposal line retaining walls act as a physical barrier, preventing vehicles from rolling off the slope and also preventing waste rock from rolling down the edge of the spoil disposal line due to slope, vibration, etc., and injuring equipment and personnel below.

[0003] To improve the efficiency of dumping operations, mining trucks are generally required to tilt when the rear wheels are as close to the retaining wall as possible. Drivers usually judge whether the vehicle meets the tilting requirements by observing the rearview mirror and feeling the small displacement of the vehicle's rear wheels after they reach the retaining wall, which is highly dangerous. For autonomous vehicles, it is necessary to accurately detect the position and shape of the retaining wall in order to accurately calculate the parking position where the rear wheels are close to the retaining wall.

[0004] The requirement that vehicles keep their rear wheels close to the retaining wall during dumping operations serves another purpose: to minimize the direct dumping of waste material into the dumping area (the other side of the retaining wall), reducing the need for the loader to clean the work area and the workload of repairing the retaining wall, thereby improving production efficiency. After the loader repairs the retaining wall, it is checked to ensure that the retaining wall meets the requirements. Once the retaining wall parameters are confirmed to be satisfactory, the corresponding dumping position is updated.

[0005] The disclosure of the above background technical content is only for the purpose of assisting in understanding the concept and technical solution of this application, and does not necessarily provide technical instruction. Summary of the Invention

[0006] The purpose of this invention is to provide a method that, by accurately scanning the retaining wall morphology, extracts the parameters of the retaining wall along the soil removal line to assess whether the retaining wall meets production safety requirements, and enables an autonomous driving system to control the vehicle to fully conform to the retaining wall, thereby improving production efficiency.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A method for detecting retaining walls along open-pit mine spoil heaps includes the following steps: The dumping vehicle is driven to the reverse slope in front of the retaining wall, and the sensors on the dumping vehicle are used to scan the spatial point cloud to obtain the spatial point set. Multiple virtual rays are drawn with the sensor as the origin, forming multiple virtual profiles with the vertical Z-axis; Virtual profiles that intersect with the set of spatial points are identified as valid profiles; and the spatial points of each valid profile are identified: the spatial points in the set of spatial points that fall on the valid profiles are taken as the spatial points of the corresponding valid profiles. On each effective profile, the first straight line and the second straight line are fitted using the corresponding profile space points, and the intersection of the first straight line and the second straight line is determined and recorded as the slope contact point. The location line of the retaining wall is obtained by fitting the slope contact points in each effective profile.

[0008] Furthermore, based on any or a combination of the aforementioned technical solutions, the line closer to the dumping vehicle in the first straight line and the line farther from the dumping vehicle are defined as the first straight line and the line farther from the dumping vehicle as the second straight line. Determine the slope between the first straight line and the horizontal line on the effective profile it is on, and denot it as the reverse slope. Determine the slope between the second straight line and the horizontal line on the effective section it is on, and denot it as the retaining wall slope; If the slope of the reverse slope and / or the slope of the retaining wall do not meet the preset specification range, it is determined that the retaining wall of the soil dumping line does not meet the production safety requirements and / or an alarm signal is issued.

[0009] Furthermore, following any one or a combination of the aforementioned technical solutions, after obtaining the position line of the spoil heap retaining wall through fitting, the detection method further includes correcting the reverse slope and retaining wall slope of the spoil heap retaining wall in the following manner: Determine the tangent direction of the position line of the retaining wall of the soil dumping line at the point of contact with the slope in the effective profile; Based on the tangent direction, determine a virtual orthogonal profile at the contact point of the slope that is orthogonal to the retaining wall of the soil discharge line; Determine the deviation angle between the effective profile and the virtual orthogonal profile, denoted as . θ ; The corrected reverse slope and retaining wall slope are calculated using the following formulas: ,in, These represent the corrected reverse slope and retaining wall slope, respectively. S R This indicates the reverse slope before correction. S B This indicates the slope of the retaining wall before the correction.

[0010] Furthermore, based on any one or a combination of the aforementioned technical solutions, the reverse slope and / or retaining wall slope corresponding to each effective profile are corrected. Whether the spoil heap retaining wall meets production safety requirements can be determined by one or more of the following conditions: Determine whether the proportion of reverse slopes corresponding to each effective profile after correction meets the standard range; Determine whether the proportion of retaining wall slopes corresponding to each effective profile after correction meets the standard range; Calculate the average or standard deviation of the reverse slope corresponding to each effective profile after correction, and determine whether the average or standard deviation meets the standard. Calculate the average or standard deviation of the retaining wall slope corresponding to each effective profile after correction, and determine whether the average or standard deviation meets the standard. Calculate the height difference between the highest point of the retaining wall and the contact point with the slope, define it as the retaining wall height, and determine whether the retaining wall height meets the standard.

[0011] Furthermore, following any one or a combination of the aforementioned technical solutions, a two-segment linear model is used to fit the spatial points on each effective profile using the RANSAC fitting method to obtain the first and second straight lines.

[0012] Furthermore, following any one or a combination of the aforementioned technical solutions, after determining a certain cross-sectional spatial point as the proposed slope contact point, the RANSAC fitting method is used to obtain the first proposed straight line and the second proposed straight line. Determine the slope of the reverse slope represented by the first proposed straight line, and denot it as the reverse slope gradient. S R Determine the slope of the retaining wall represented by the second proposed straight line, and denote it as the retaining wall slope. S B ; Calculate the fitting residual corresponding to the proposed slope contact point. σ RMS for in, h The Cartesian ordinates of each spatial point within the effective cross-section. h B Let be the Cartesian ordinate of the proposed slope contact point. d Let x be the Cartesian x-coordinate of each point in the cross-section space. d B The Cartesian abscissa of the proposed slope contact point; If the fitting residual is less than the preset qualified residual threshold, the fitting is successful; otherwise, other profile spatial points are replaced as the proposed slope contact points until the updated fitting residual is less than the qualified residual threshold. Alternatively, multiple candidate proposed slope contact points are determined, their corresponding fitting residuals are calculated, and the proposed slope contact point with the smallest fitting residual is used to determine the final fitting result.

[0013] Furthermore, based on any one or a combination of the aforementioned technical solutions, multiple virtual rays are drawn with the dumping vehicle as the origin in the following manner: Using the origin as the emission point, multiple virtual rays are drawn in the horizontal plane where the origin is located, and adjacent virtual rays are spaced apart by a preset angle. Alternatively, on the side of the dump truck facing the retaining wall, multiple virtual rays are drawn with the origin as the emission point, so that all virtual rays are located in the same plane and adjacent virtual rays are spaced at a preset angle.

[0014] Furthermore, based on any one or a combination of the aforementioned technical solutions, the effective cross-section is determined in the following manner: The retaining wall of the soil dumping line is scanned in advance using sensors to obtain the point cloud set of the retaining wall body; The point cloud coordinates of the retaining wall body point cloud set are transformed into spatial coordinates in the spatial coordinate system where the virtual profile is located; With the sensor as the origin, multiple virtual rays are drawn within a 360° range on the horizontal plane where the origin is located. Each virtual ray and the vertical Z-axis form multiple virtual profiles. Based on the spatial coordinates of the point cloud transformed from the point cloud set of the retaining wall body, some of the virtual profiles are determined to be invalid profiles, and the remaining virtual profiles are defined as profiles to be confirmed. The coordinates of the spatial points in the set of spatial points are converted into three-dimensional coordinates in the spatial coordinate system of the virtual profile. It is then determined whether the converted three-dimensional coordinates lie on one of the profiles to be confirmed. If so, the profile to be confirmed is determined to be a valid profile; otherwise, the profile to be confirmed is an invalid profile.

[0015] According to another aspect of the present invention, the present invention provides an open-pit mine spoil heap retaining wall detection system, comprising: The sensor is configured to scan the spatial point cloud on the side of the dump truck facing the retaining wall of the dump line to obtain a set of spatial points; The processor is configured to perform the following operations: draw multiple virtual rays with the sensor as the origin to form multiple virtual profiles with the vertical Z-axis; determine the virtual profiles that intersect with the set of spatial points as valid profiles; and determine the profile spatial points of each valid profile: take the spatial points in the set of spatial points that fall on the valid profiles as the profile spatial points of the corresponding valid profiles; on each valid profile, use the corresponding profile spatial points to fit a first straight line and a second straight line, and determine the intersection of the first straight line and the second straight line, denoted as the slope contact point; fit the slope contact points in each valid profile to obtain the position line of the soil removal line retaining wall.

[0016] According to another aspect of the present invention, an unmanned dumping vehicle is provided, including a vehicle, sensors and a processor, wherein the sensors are mounted on the vehicle and are configured to scan a spatial point cloud on the side of the dumping vehicle facing the retaining wall of the dumping line to obtain a set of spatial points. The processor is configured to perform the following operations: draw multiple virtual rays with the sensor as the origin to form multiple virtual profiles with the vertical Z-axis; determine the virtual profiles that intersect with the set of spatial points as valid profiles; and determine the profile spatial points of each valid profile: take the spatial points in the set of spatial points that fall on the valid profiles as the corresponding profile spatial points of the valid profiles; on each valid profile, use the corresponding profile spatial points to fit a first straight line and a second straight line, and determine the intersection of the first straight line and the second straight line, denoted as the slope contact point; fit the slope contact points in each valid profile to obtain the position line of the soil removal line retaining wall. If the processor determines that the parameters of the spoil disposal line retaining wall do not meet the production safety requirements, it will trigger an alarm and / or prevent the vehicle from reversing; if it determines that the parameters of the spoil disposal line retaining wall meet the production safety requirements, it will generate a reversing driving plan for the vehicle, wherein the distance between the driving endpoint and the position line of the spoil disposal line retaining wall meets a preset acceptable distance range.

[0017] The beneficial effects of the technical solution provided by this invention are as follows: a. By accurately scanning the retaining wall morphology, a series of profiles are sampled. In each profile, the effective retaining wall scanning results are obtained through the optimal fitting method, thereby obtaining the slope contact points in the profile and extracting relevant parameters of the retaining wall from the slope to evaluate whether the retaining wall meets the production safety requirements and improve production safety. b. Connect the contact points of multiple adjacent slope profiles, calculate the fitting curve of the soil discharge line, and correct the profile retaining wall parameters and update the soil discharge line based on the local tangent vector of the fitting curve. Compared with other updating and detection methods, this method has the characteristics of simple operation, strong anti-interference ability, and fast and accurate detection. c. The autonomous driving system controls the vehicle to fully conform to the retaining wall, improving production efficiency; at the same time, it precisely controls the speed of the vehicle when it conforms to the retaining wall, reducing the impact on the retaining wall and reducing the amount of work required to repair the retaining wall. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic flowchart of an open-pit mine spoil heap retaining wall detection method provided as an exemplary embodiment of the present invention; Figure 2 A schematic diagram of fitting the reverse slope and retaining wall in an effective profile during the detection process, provided as an exemplary embodiment of the present invention; Figure 3 A schematic flowchart illustrating the modification of retaining wall parameters for a spoil heap is provided as an exemplary embodiment of the present invention. Figure 4 A schematic diagram illustrating the principle of correcting the parameters of the retaining wall for the waste dumping line, provided as an exemplary embodiment of the present invention; Figure 5 A structural block diagram of an open-pit mine spoil heap retaining wall detection system and an unmanned spoil heap vehicle provided as an exemplary embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0022] In one embodiment of the present invention, a method for detecting retaining walls along open-pit mine spoil heaps is provided, such as... Figure 1 As shown, the method for detecting the retaining wall along the waste disposal line includes the following steps: S100: Drive the dumping vehicle to the reverse slope in front of the retaining wall, and use the sensors on the dumping vehicle to scan the spatial point cloud to obtain the spatial point set; S200: Draw multiple virtual rays with the sensor as the origin, forming multiple virtual profiles with the vertical Z-axis; S300: The virtual profiles that intersect with the set of spatial points are determined as valid profiles; the profile spatial points of each valid profile are determined: the spatial points in the set of spatial points that fall on the valid profiles are taken as the profile spatial points of the corresponding valid profiles. S400: such as Figure 2 As shown, on each effective profile, the first straight line and the second straight line are fitted using the corresponding profile space points, and the intersection of the first straight line and the second straight line is determined and recorded as the slope contact point. In this embodiment, a two-segment linear model is used to fit the spatial points of the cross-section on each effective cross-section to obtain the first and second straight lines based on the RANSAC fitting method.

[0023] Specifically, the straight line that is closer to the dumping vehicle between the first straight line and the second straight line is defined as the first straight line. Figure 2 The line segment to the left of the contact point on the medium slope represents the reverse slope, and the line farther from the dumping vehicle is the second straight line. Figure 2 The line segment to the right of the contact point on the slope represents the retaining wall body; the slope between the first straight line and the horizontal line on the effective profile is determined and recorded as the reverse slope slope; the slope between the second straight line and the horizontal line on the effective profile is determined and recorded as the retaining wall slope; the difference between the longitudinal coordinate of the spatial point farthest from the contact point on the slope and the contact point on the slope is defined as the retaining wall height.

[0024] The specific fitting process is as follows: First, a certain profile spatial point is selected as the proposed slope contact point, and the RANSAC fitting method is used to obtain the first proposed straight line and the second proposed straight line. Determine the slope of the reverse slope represented by the first proposed straight line, and denot it as the reverse slope gradient. S R Determine the slope of the retaining wall represented by the second proposed straight line, and denote it as the retaining wall slope. S B ; Calculate the fitting residual corresponding to the proposed slope contact point. σ RMS for in, h The Cartesian ordinates of each spatial point within the effective cross-section. h B Let be the Cartesian ordinate of the proposed slope contact point. d Let x be the Cartesian x-coordinate of each point in the cross-section space. d B Let x be the Cartesian abscissa of the proposed slope contact point; if the fitting residual is too large, it indicates that the proposed slope contact point is not suitable; if the fitting residual obtained by traversing all the spatial points of the profile does not meet the requirements, it is determined that there is no slope contact point in the effective profile.

[0025] There are at least two ways to determine the fitting endpoint: Method 1: If the fitting residual is less than the preset qualified residual threshold, the fitting is successful; otherwise, other profile spatial points are used as the proposed slope contact points until the updated fitting residual is less than the qualified residual threshold. Method 2: Determine multiple candidate contact points for the proposed slope (you can select profile points in the inflection point area, or even use all profile points as candidates), calculate the corresponding fitting residuals for each, and determine the final fitting result based on the contact point for the proposed slope corresponding to the smallest fitting residual.

[0026] S500: The location line of the retaining wall of the soil discharge line is obtained by fitting the slope contact points in each effective profile. The fitting result of the location line is not necessarily a straight line.

[0027] On the one hand, it is necessary to examine the position line of the spoil disposal line retaining wall in order to accurately calculate the endpoint where the spoil disposal vehicle should reverse. That is, under the premise of avoiding impact on the spoil disposal line retaining wall (reducing the workload of repairing the retaining wall), the rear wheels need to be as close to the retaining wall as possible when parking, so that the waste discharged from the vehicle can be directly dumped behind the spoil disposal line retaining wall (reducing the cleaning operation area of ​​the loader). On the other hand, it is also necessary to examine whether the parameters of the spoil line retaining wall are compliant, such as whether the slope of the reverse slope meets the corresponding specification range and whether the slope of the retaining wall meets the corresponding specification range. If they do not meet the requirements, it is determined that the spoil line retaining wall does not meet the production safety requirements, and an alarm device can be triggered to issue an alarm signal if necessary.

[0028] In one embodiment of the present invention, after the location line of the spoil line retaining wall is fitted in step S500, the detection method further includes correcting the reverse slope and retaining wall slope of the spoil line retaining wall in the following manner, and then using the corrected reverse slope and retaining wall slope to determine whether the parameters of the spoil line retaining wall are compliant.

[0029] Specifically, such as Figure 3 As shown, the correction is as follows: Determine the tangent direction of the position line of the retaining wall of the soil dumping line at the point of contact with the slope in the effective profile; Based on the tangent direction, determine a virtual orthogonal profile at the contact point of the slope that is orthogonal to the retaining wall of the soil discharge line; like Figure 4 As shown, the deviation angle between the effective profile and the virtual orthogonal profile is determined and denoted as . θ ; In this embodiment, both the reverse slope and the retaining wall slope are expressed as percentage slopes, i.e., the tangent of the angle with the horizontal (length of opposite side / length of adjacent side). The length of the opposite side is the same for both the virtual orthogonal section and the effective section; however, the length of the adjacent side is different. The length of the adjacent side on the virtual orthogonal section can be considered as the projection of the length of the adjacent side on the effective section onto the orthogonal section, i.e., the ratio of the length of the adjacent side on the virtual orthogonal section to the length of the adjacent side on the effective section is... cosθ Therefore, the ratio of the corrected reverse slope to the original reverse slope calculated on the effective profile is 1:1. cosθ Similarly, the ratio of the corrected retaining wall slope to the original retaining wall slope calculated on the effective cross-section is 1: cosθ .

[0030] Based on this, the corrected reverse slope and retaining wall slope are calculated using the following formulas: ,in, These represent the corrected reverse slope and retaining wall slope, respectively. S R This indicates the reverse slope before correction. S B This indicates the slope of the retaining wall before the correction.

[0031] In this embodiment, there are multiple effective profiles, and the method for determining the effective profile is as follows: First, multiple virtual rays are drawn using the sensors on the dump truck as the origin. For example, multiple virtual rays can be drawn within a 360° range on the horizontal plane where the origin is located, with a preset angle (e.g., 5° or 10°) between adjacent virtual rays. This results in 72 or 36 virtual rays. Combined with the vertical Z-axis, 72 or 36 virtual profiles are formed. The smaller the interval angle, the more virtual profiles are formed, and the more accurate the final retaining wall parameters are. Alternatively, within a 180° range on the side of the dump truck facing the retaining wall, multiple virtual rays are drawn with the origin as the origin, so that all virtual rays are located in the same plane (e.g., the horizontal plane), with a preset angle (e.g., 5° or 10°) between adjacent virtual rays. This results in 36 or 18 virtual rays. Combined with the vertical Z-axis, 36 or 18 virtual profiles are formed.

[0032] Secondly, the validity of each virtual profile is determined by whether it intersects with the set of spatial points. One implementation involves traversing each virtual profile and determining whether any points from the set of spatial points fall on that virtual profile. However, this approach requires significant computational resources when there are many virtual profiles and a large number of points in the set of spatial points. Based on this, the present invention proposes another embodiment: A point cloud set of the retaining wall is obtained by scanning the spoil heap line using sensors. Unlike the spatial point set, the retaining wall point cloud only describes the retaining wall's shape and does not include environmental point clouds, such as backslope point clouds. Further, the point cloud coordinates of the retaining wall point cloud set are converted into spatial coordinates in the spatial coordinate system of the virtual profile. Based on the converted spatial coordinates of the retaining wall point cloud set, some of the virtual profiles are determined to be invalid profiles, and the remaining virtual profiles are defined as profiles to be confirmed. Specifically, the line containing the retaining wall can be translated so that it passes through the origin of the virtual profile. At this point, the line containing the retaining wall is used as a decomposition, dividing it into virtual profiles facing the retaining wall and virtual profiles facing away from the retaining wall. The virtual profiles facing away from the retaining wall are considered invalid profiles, and the virtual profiles facing the retaining wall are considered profiles to be confirmed.

[0033] The coordinates of the spatial points in the set of spatial points are converted into three-dimensional coordinates in the spatial coordinate system of the virtual profile. It is then determined whether the converted three-dimensional coordinates lie on one of the profiles to be confirmed. If so, the profile to be confirmed is determined to be a valid profile; otherwise, the profile to be confirmed is an invalid profile.

[0034] The above method is used to correct the reverse slope and / or retaining wall slope corresponding to each effective profile. Then, the soil dumping line retaining wall is determined to meet the production safety requirements by one or more of the following conditions: Determine whether the proportion of reverse slopes corresponding to each effective profile after correction meets the standard range; Determine whether the proportion of retaining wall slopes corresponding to each effective profile after correction meets the standard range; Calculate the average or standard deviation of the reverse slope corresponding to each effective profile after correction, and determine whether the average or standard deviation meets the standard. Calculate the average or standard deviation of the retaining wall slope corresponding to each effective profile after correction, and determine whether the average or standard deviation meets the standard. Calculate the height difference between the highest point of the retaining wall and the contact point with the slope, define it as the retaining wall height, and determine whether the retaining wall height meets the standard.

[0035] In one embodiment of the present invention, an open-pit mine spoil heap retaining wall detection system is provided, such as... Figure 5 As shown, the detection system includes: The sensor is configured to scan the spatial point cloud on the side of the dump truck facing the retaining wall of the dump line to obtain a set of spatial points; The processor is configured to perform the following operations: draw multiple virtual rays with the sensor as the origin to form multiple virtual profiles with the vertical Z-axis; determine the virtual profiles that intersect with the set of spatial points as valid profiles; and determine the profile spatial points of each valid profile: take the spatial points in the set of spatial points that fall on the valid profiles as the profile spatial points of the corresponding valid profiles; on each valid profile, use the corresponding profile spatial points to fit a first straight line and a second straight line, and determine the intersection of the first straight line and the second straight line, denoted as the slope contact point; fit the slope contact points in each valid profile to obtain the position line of the soil removal line retaining wall.

[0036] See also Figure 5 An embodiment of the present invention also provides an unmanned dumping operation vehicle, including a vehicle, sensors and a processor. The sensors are mounted on the vehicle and are configured to scan the spatial point cloud on the side of the dumping operation vehicle facing the retaining wall of the dumping line to obtain a set of spatial points. The processor is configured to perform the following operations: draw multiple virtual rays with the sensor as the origin to form multiple virtual profiles with the vertical Z-axis; determine the virtual profiles that intersect with the set of spatial points as valid profiles; and determine the profile spatial points of each valid profile: take the spatial points in the set of spatial points that fall on the valid profiles as the corresponding profile spatial points of the valid profiles; on each valid profile, use the corresponding profile spatial points to fit a first straight line and a second straight line, and determine the intersection of the first straight line and the second straight line, denoted as the slope contact point; fit the slope contact points in each valid profile to obtain the position line of the soil removal line retaining wall. If the processor determines that the parameters of the spoil heap retaining wall do not meet production safety requirements, it will trigger an alarm and / or prevent the vehicle from reversing; if it determines that the parameters of the spoil heap retaining wall meet production safety requirements, it will generate a reversing driving plan for the vehicle. The reversing driving plan ensures that the distance between the driving endpoint and the position line of the spoil heap retaining wall meets the preset acceptable distance range. A speed control plan can also be set, such as reversing at a constant speed to a certain position point and then starting to decelerate, precisely controlling the speed to be reduced to close to 0 when reaching the driving endpoint, reducing the impact on the retaining wall and reducing the workload of retaining wall repair.

[0037] It should be noted that the open-pit mine spoil heap retaining wall detection system and unmanned spoil heap operation vehicle provided in the embodiments of the present invention belong to the same inventive concept as the open-pit mine spoil heap retaining wall detection method provided in the above embodiments. Here, all the contents of the open-pit mine spoil heap retaining wall detection method embodiment are incorporated into the detection system embodiment and the unmanned spoil heap operation vehicle embodiment by reference, and will not be repeated here.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for detecting retaining walls along dump lines in open-pit mines, characterized in that, Includes the following steps: The dumping vehicle is driven to the reverse slope in front of the retaining wall, and the sensors on the dumping vehicle are used to scan the spatial point cloud to obtain the spatial point set. Multiple virtual rays are drawn with the sensor as the origin, forming multiple virtual profiles with the vertical Z-axis; Virtual profiles that intersect with the set of spatial points are identified as valid profiles; and the spatial points of each valid profile are identified: the spatial points in the set of spatial points that fall on the valid profiles are taken as the spatial points of the corresponding valid profiles. On each effective profile, the first straight line and the second straight line are fitted using the corresponding profile space points, and the intersection of the first straight line and the second straight line is determined and recorded as the slope contact point. The location line of the retaining wall of the soil removal line is obtained by fitting the slope contact points in each effective profile. Define the first straight line as the one closer to the dumping vehicle and the second straight line as the one farther from the dumping vehicle; determine the slope between the first straight line and the horizontal line on the effective profile, and denot it as the reverse slope slope; determine the slope between the second straight line and the horizontal line on the effective profile, and denot it as the retaining wall slope. The reverse slope and retaining wall slope of the spoil heap retaining wall are corrected as follows: The tangent direction of the position line of the spoil heap retaining wall at the slope contact point in the effective profile is determined; based on the tangent direction, a virtual orthogonal profile orthogonal to the spoil heap retaining wall at the slope contact point is determined; the deviation angle between the effective profile and the virtual orthogonal profile is determined and denoted as . θ ; The corrected reverse slope and retaining wall slope are calculated using the following formulas: ,in, These represent the corrected reverse slope and retaining wall slope, respectively. S R This indicates the reverse slope before correction. S B This indicates the slope of the retaining wall before the correction. If the corrected reverse slope and / or retaining wall slope do not meet the preset specification range, the retaining wall of the spoil disposal line is determined to not meet the production safety requirements and / or an alarm signal is issued.

2. The method for detecting retaining walls along open-pit mine spoil heaps according to claim 1, characterized in that, Correct the reverse slope and / or retaining wall slope corresponding to each effective profile; Whether the spoil heap retaining wall meets production safety requirements can be determined by one or more of the following conditions: Determine whether the proportion of reverse slopes corresponding to each effective profile after correction meets the standard range; Determine whether the proportion of retaining wall slopes corresponding to each effective profile after correction meets the standard range; Calculate the average or standard deviation of the reverse slope corresponding to each effective profile after correction, and determine whether the average or standard deviation meets the standard. Calculate the average or standard deviation of the retaining wall slope corresponding to each effective profile after correction, and determine whether the average or standard deviation meets the standard. Calculate the height difference between the highest point of the retaining wall and the contact point with the slope, define it as the retaining wall height, and determine whether the retaining wall height meets the standard.

3. The method for detecting retaining walls along open-pit mine spoil heaps according to claim 1, characterized in that, A two-segment linear model was adopted, and the first and second straight lines were obtained by fitting the spatial points of the cross-section on each effective cross-section using the RANSAC fitting method.

4. The method for detecting retaining walls along open-pit mine spoil heaps according to claim 3, characterized in that, After determining a certain profile point as the proposed slope contact point, the RANSAC fitting method is used to obtain the first proposed straight line and the second proposed straight line. Determine the slope of the reverse slope represented by the first proposed straight line, and denot it as the reverse slope gradient. S R ; Determine the slope of the retaining wall represented by the second proposed straight line, and denote it as the retaining wall slope. S B ; Calculate the fitting residual corresponding to the proposed slope contact point. σ RMS for ； in, h The Cartesian ordinates of each spatial point within the effective cross-section. h B Let be the Cartesian ordinate of the proposed slope contact point. d Let x be the Cartesian x-coordinate of each point in the cross-section space. d B The Cartesian abscissa of the proposed slope contact point; If the fitting residual is less than the preset qualified residual threshold, the fitting is successful; otherwise, other profile spatial points are replaced as the proposed slope contact points until the updated fitting residual is less than the qualified residual threshold. Alternatively, multiple candidate proposed slope contact points are determined, their corresponding fitting residuals are calculated, and the proposed slope contact point with the smallest fitting residual is used to determine the final fitting result.

5. The method for detecting retaining walls along open-pit mine spoil heaps according to claim 1, characterized in that, Multiple virtual rays are drawn with the aforementioned dump truck as the origin, using the following method: Using the origin as the emission point, multiple virtual rays are drawn in the horizontal plane where the origin is located, and adjacent virtual rays are spaced apart by a preset angle. Alternatively, on the side of the dump truck facing the retaining wall, multiple virtual rays are drawn with the origin as the emission point, so that all virtual rays are located in the same plane and adjacent virtual rays are spaced at a preset angle.

6. The method for detecting retaining walls along open-pit mine spoil heaps according to any one of claims 1 to 5, characterized in that, The effective profile is determined using the following methods: The retaining wall of the soil dumping line is scanned in advance using sensors to obtain the point cloud set of the retaining wall body; The point cloud coordinates of the retaining wall body point cloud set are transformed into spatial coordinates in the spatial coordinate system where the virtual profile is located; With the sensor as the origin, multiple virtual rays are drawn within a 360° range on the horizontal plane where the origin is located. Each virtual ray and the vertical Z-axis form multiple virtual profiles. Based on the spatial coordinates of the point cloud transformed from the point cloud set of the retaining wall body, some of the virtual profiles are determined to be invalid profiles, and the remaining virtual profiles are defined as profiles to be confirmed. The coordinates of the spatial points in the set of spatial points are converted into three-dimensional coordinates in the spatial coordinate system of the virtual profile. It is then determined whether the converted three-dimensional coordinates lie on one of the profiles to be confirmed. If so, the profile to be confirmed is determined to be a valid profile; otherwise, the profile to be confirmed is an invalid profile.

7. A detection system for retaining walls along open-pit mine spoil heaps, characterized in that, include: The sensor is configured to scan the spatial point cloud on the side of the dump truck facing the retaining wall of the dump line to obtain a set of spatial points; The processor is configured to perform the following operations: draw multiple virtual rays with the sensor as the origin to form multiple virtual profiles with the vertical Z-axis; determine the virtual profiles that intersect with the set of spatial points as valid profiles; and determine the profile spatial points of each valid profile: take the spatial points in the set of spatial points that fall on the valid profiles as the profile spatial points of the corresponding valid profiles; on each valid profile, use the corresponding profile spatial points to fit a first straight line and a second straight line, and determine the intersection of the first straight line and the second straight line, denoted as the slope contact point; fit the slope contact points in each valid profile to obtain the position line of the soil removal line retaining wall. Define the first straight line as the one closer to the dumping vehicle and the second straight line as the one farther from the dumping vehicle; determine the slope between the first straight line and the horizontal line on the effective profile, and denot it as the reverse slope slope; determine the slope between the second straight line and the horizontal line on the effective profile, and denot it as the retaining wall slope. The reverse slope and retaining wall slope of the spoil heap retaining wall are corrected as follows: The tangent direction of the position line of the spoil heap retaining wall at the slope contact point in the effective profile is determined; based on the tangent direction, a virtual orthogonal profile orthogonal to the spoil heap retaining wall at the slope contact point is determined; the deviation angle between the effective profile and the virtual orthogonal profile is determined and denoted as . θ ; The corrected reverse slope and retaining wall slope are calculated using the following formulas: ,in, These represent the corrected reverse slope and retaining wall slope, respectively. S R This indicates the reverse slope before correction. S B This indicates the slope of the retaining wall before the correction. If the corrected reverse slope and / or retaining wall slope do not meet the preset specification range, the retaining wall of the spoil disposal line is determined to not meet the production safety requirements and / or an alarm signal is issued.

8. An unmanned dumping vehicle, characterized in that, Includes a vehicle, sensors, and a processor. The sensors are mounted on the vehicle and configured to scan the spatial point cloud on the side of the dumping operation vehicle facing the retaining wall of the dumping line to obtain a set of spatial points. The processor is configured to perform the following operations: draw multiple virtual rays with the sensor as the origin to form multiple virtual profiles with the vertical Z-axis; determine the virtual profiles that intersect with the set of spatial points as valid profiles; and determine the profile spatial points of each valid profile: take the spatial points in the set of spatial points that fall on the valid profiles as the corresponding profile spatial points of the valid profiles; on each valid profile, use the corresponding profile spatial points to fit a first straight line and a second straight line, and determine the intersection of the first straight line and the second straight line, denoted as the slope contact point; fit the slope contact points in each valid profile to obtain the position line of the soil removal line retaining wall. Define the first straight line as the one closer to the dumping vehicle and the second straight line as the one farther from the dumping vehicle; determine the slope between the first straight line and the horizontal line on the effective profile, and denot it as the reverse slope slope; determine the slope between the second straight line and the horizontal line on the effective profile, and denot it as the retaining wall slope. The reverse slope and retaining wall slope of the spoil heap retaining wall are corrected as follows: The tangent direction of the position line of the spoil heap retaining wall at the slope contact point in the effective profile is determined; based on the tangent direction, a virtual orthogonal profile orthogonal to the spoil heap retaining wall at the slope contact point is determined; the deviation angle between the effective profile and the virtual orthogonal profile is determined and denoted as . θ ; The corrected reverse slope and retaining wall slope are calculated using the following formulas: ,in, These represent the corrected reverse slope and retaining wall slope, respectively. S R This indicates the reverse slope before correction. S B This indicates the slope of the retaining wall before the correction. If the corrected slope and / or retaining wall slope do not meet the preset specification range, the processor determines that the parameters of the spoil disposal line retaining wall do not meet the production safety requirements and triggers an alarm and / or prevents the vehicle from reversing; if the parameters of the spoil disposal line retaining wall meet the production safety requirements, a reversing driving plan for the vehicle is generated, wherein the distance between the driving endpoint and the position line of the spoil disposal line retaining wall meets the preset distance qualification range.

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