A method, system, device and medium for monitoring annual resource consumption in a mine based on a mechanical dog

Abstract

The application discloses a kind of based on mechanical dog's underground mining mine annual resource quantity monitoring method, system, equipment and medium, it is related to mineral resources field, the method comprises the following steps: obtaining the sensing data when mechanical dog moves in underground roadway;The mechanical dog is carried with inertial navigation module and laser ranging module;Three-dimensional roadway model is constructed based on the sensing data;Three-dimensional entity model of ore body is constructed, and the three-dimensional entity model of ore body is docked with the three-dimensional roadway model, and the docking ore body three-dimensional model is obtained;Based on the docking ore body three-dimensional model of two different preset times, the earthwork quota amount is calculated;Based on the earthwork quota amount, the annual resource quantity of underground mining mine is calculated;The annual resource quantity of underground mining mine includes the amount of ore and the amount of metal used.The application can realize comprehensive, objective and accurate monitoring of the annual resource quantity of underground mining mine.

Description

Technical Field

[0001] This application relates to the field of mineral resources, and in particular to a method, system, equipment and medium for monitoring the annual resource utilization of underground mines based on a mechanical dog. Background Technology

[0002] In the field of mineral resource development and utilization, underground mining, as an important mining mode, is widely used in the mining operations of various mineral resources such as coal, metallic minerals, and non-metallic minerals. The annual mining utilization rate is a core indicator for measuring the intensity of mineral resource development, assessing mining compliance, and calculating resource depletion and economic benefits. The accuracy, comprehensiveness, and objectivity of its monitoring data directly affect the scientific nature of mineral resource planning and management, ecological and environmental protection supervision, mining enterprise production and operation decisions, and industry macro-control.

[0003] Currently, monitoring of annual mining activity in underground mines mainly relies on two traditional methods: self-reporting by mining companies and third-party sampling methods. The inherent flaws of these two traditional methods are becoming increasingly prominent, and they can no longer meet the needs for comprehensive and objective monitoring of annual mining activity. On the one hand, the self-reporting model by mining companies suffers from significant subjectivity and unreliability; on the other hand, the third-party sampling method can only control a sampled portion, resulting in limited coverage and insufficient representativeness, leading to biased monitoring results. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, equipment and medium for monitoring the annual resource utilization of underground mines based on a mechanical dog, which can realize comprehensive, objective and accurate monitoring of the annual resource utilization of underground mines.

[0005] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a method for monitoring annual resource utilization in underground mining based on a robotic dog, including: The system acquires sensor data of the robotic dog as it moves through underground tunnels; the robotic dog is equipped with an inertial navigation module and a laser ranging module. A three-dimensional tunnel model is constructed based on the sensor data; A three-dimensional solid model of the ore body is constructed, and the three-dimensional solid model of the ore body is docked with the three-dimensional tunnel model to obtain a docked three-dimensional model of the ore body; The earthwork quota is calculated based on the three-dimensional model of the docking ore body at two different preset times. The annual resource utilization for underground mining is calculated based on the earthwork quota; the annual resource utilization for underground mining includes the amount of ore and the amount of metal utilized.

[0006] Secondly, this application provides a monitoring system for annual resource utilization in underground mining based on a robotic dog, comprising: The sensor data acquisition module is used to acquire sensor data when the robot dog moves in the underground tunnel; the robot dog is equipped with an inertial navigation module and a laser ranging module. A 3D tunnel model construction module is used to construct a 3D tunnel model based on the sensor data. The ore body 3D model construction module is used to construct a 3D solid model of the ore body and connect the 3D solid model of the ore body with the 3D tunnel model to obtain the docked ore body 3D model; The earthwork quota calculation module is used to calculate the earthwork quota based on the three-dimensional model of the docking ore body at two different preset times. The underground mining annual resource utilization calculation module is used to calculate the annual resource utilization of underground mining based on the earthwork quota; the annual resource utilization of underground mining includes the amount of ore and the amount of metal utilized.

[0007] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for monitoring annual resource utilization in underground mining based on a mechanical dog.

[0008] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for monitoring annual resource utilization in underground mining based on a mechanical dog.

[0009] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a method, system, equipment, and medium for monitoring annual resource utilization in underground mining based on a robotic dog, effectively overcoming the core defects of traditional methods that rely on enterprise reporting or partial sampling, such as strong subjectivity, incomplete coverage, and insufficient accuracy. In an underground environment without GPS, the robotic dog, equipped with an inertial navigation module (accelerometer + gyroscope) and a laser ranging module, achieves full-path, high-precision 3D point cloud reconstruction of the tunnel space. Furthermore, the 3D tunnel model is geometrically docked with a 3D solid model based on the ore body to accurately identify the actual ore body range utilized within the tunnel. Based on this, the earthwork quota is calculated using the docked ore body 3D model at different preset times, further determining the annual resource utilization in underground mining. This application achieves full-process automation and standardization from data acquisition, 3D modeling, ore body docking, and resource calculation, significantly improving the objectivity, comprehensiveness, accuracy, and verifiability of underground mine resource utilization monitoring, providing solid technical support for mineral resource supervision, compliant mining, and national resource asset and liability accounting. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating a method for monitoring annual resource utilization in underground mining based on a mechanical dog, provided as an embodiment of this application; Figure 2 A schematic diagram of a mechanical dog equipped with an inertial navigation module and a laser ranging module; Figure 3 A schematic diagram for calculating tunnel points; Figure 4 This is a schematic diagram showing spatial relationships of intersection and containment. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] In one exemplary embodiment, such as Figure 1 As shown, a method for monitoring the annual resource utilization of underground mines based on a mechanical dog is provided. This method is executed by computer equipment, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is described using a server as an example, and includes the following steps S1 to S5.

[0015] S1: Acquire sensor data of the robotic dog moving in the underground tunnel; the robotic dog is equipped with an inertial navigation module and a laser ranging module.

[0016] S2: Construct a three-dimensional tunnel model based on the sensor data.

[0017] S3: Construct a three-dimensional solid model of the ore body, and connect the three-dimensional solid model of the ore body with the three-dimensional tunnel model to obtain a connected three-dimensional model of the ore body.

[0018] S4: Calculate the earthwork quota based on the three-dimensional model of the docking ore body with two different preset times.

[0019] S5: Calculate the annual resource utilization amount for underground mining based on the earthwork quota; the annual resource utilization amount for underground mining includes the amount of ore and the amount of metal utilized.

[0020] By implementing steps S1 to S5 above, this application effectively solves the pain points of strong subjectivity, incomplete coverage, insufficient accuracy, and difficulty in verification in the annual utilization monitoring of underground mines, and provides a brand-new technical path for the refined supervision, scientific accounting and intelligent management of mineral resources.

[0021] In a specific embodiment, step S1 specifically includes: Since there is no GPS underground, inertial navigation is required for positioning. Therefore, a combination of a mechanical dog, a laser ranging module (LiDAR), and an inertial navigation module (including a gyroscope and accelerometer) was designed for tunnel positioning and tunnel modeling. Figure 2 As shown.

[0022] The robotic dog is capable of autonomous operation, powered by a lithium battery. It incorporates a laser ranging module and an inertial navigation module. An accelerometer measures the acceleration of an object along its axes. By integrating the acceleration signal, the object's velocity can be obtained. A gyroscope measures the angular velocity of an object, thereby calculating its attitude changes (such as pitch and yaw angles).

[0023] Assume the mechanical dog (accelerometer + gyroscope) is at a certain position P(X,Y,Z) in the tunnel. The accelerometer records the velocity as V, and the gyroscope measures the attitude angle. The initial position P0 of the lidar is (X0, Y0, Z0).

[0024] R is the rotation matrix, T is the translation vector, P0 is the initial position, and X0, Y0, Z0 are the spatial coordinates of the initial position. This represents the initial attitude angle.

[0025] The laser emission angles of the lidar are respectively ( LiDAR can calculate the distance from the lidar to the tunnel using three methods, and any one of them can be chosen.

[0026] Time method: Where r is the distance from the target point to the lidar, and c is the speed of light. This is the time difference between laser emission and reception.

[0027] Phase difference method: Where c is the speed of light. Let f be the phase difference between the transmitted wave and the echo, and f be the modulation frequency.

[0028] Triangular reflection method: Where X is the position of the light spot, S is the distance between the lidar and the sensor, and f is the focal length. The angle of incidence is denoted as .

[0029] In a specific embodiment, step S2 specifically includes: converting the sensing data into a three-dimensional spatial point cloud by fusing inertial navigation calculation and laser ranging; and obtaining the mechanical dog to interpolate the three-dimensional spatial point cloud data to generate a three-dimensional tunnel model.

[0030] (1) Geometric positioning Geometric positioning is mainly achieved through accelerometers and gyroscopes.

[0031] 1) An accelerometer measures acceleration, then integrates the acceleration to calculate velocity, and uses the velocity to obtain distance.

[0032] The acceleration measured by the accelerometer at time t. These are the components of acceleration on each axis from the accelerometer. , , Let the three axes be unit direction vectors, then the velocity is: The velocity of the accelerometer at time t. The initial velocity of the accelerometer, after discretization: For time intervals, For time The position is calculated from the velocity measured by the accelerometer. The position of the accelerometer at time t. The initial position of the accelerometer, after discretization: For time The position of the accelerometer at that time.

[0033] 2) Gyroscope measures angular velocity in, The angular velocity of the gyroscope. These are the components of angular velocity along each axis. , , These are unit direction vectors along three axes.

[0034] Attitude changes are obtained by integrating angular velocity: Let t be the attitude of the gyroscope. The initial attitude of the gyroscope, after discretization: For time The attitude of the gyroscope at that time.

[0035] 3) Using accelerometers and gyroscopes to comprehensively determine the position P(X,Y,Z) of the inertial navigation system: Let X, Y, Z be the position of the inertial navigation system, and A be the three-dimensional spatial coordinates of the inertial navigation system. For inertial navigation at the rotation angle deflection angle ,inclination posture, The position determined by the accelerometer, x, y, z are the three-dimensional spatial coordinates of the accelerometer, and e is the cumulative error.

[0036] (2) Laser ranging and modeling 1) Distance Measurement and Positioning like Figure 3 As shown, based on the lidar coordinates (X0, Y0, Z0) and attitude angle Z ( ), laser emission angle F ( And the distance, then calculate the tunnel point p(x,y,z): in, Let N be the launch angle transformation matrix, T0 be the attitude angle transformation matrix, and e be the translation matrix.

[0037] 2) Modeling Meshized point cloud, , To determine the 3D dimensions of the mesh, Kriging interpolation is used: in, For the estimated value of the unknown point, As weight, The value of the known point.

[0038] If a fault exists, then the following procedures should be followed: Fault fault A, B, C, and D are the normal vector components, D is a constant, and x, y, and z are the spatial coordinates.

[0039] Otherwise, perform the following operations: Layer , Stratigraphic thickness, Reference layer thickness, Thickness variation.

[0040] Geological bodies , It is a geological body. It is the volume of the i-th grid cell. It is the physical parameter within the i-th unit, and is the thickness of the i-th layer. and faults The function f.

[0041] This embodiment calculates the position and attitude of the mechanical dog at each moment based on the integral of acceleration and angular velocity; by combining the laser ranging value with the position and attitude at that moment, the absolute three-dimensional coordinates of the points on the tunnel surface are deduced through rotation and translation matrices to form a three-dimensional spatial point cloud, and then a three-dimensional tunnel model is constructed.

[0042] In one specific embodiment, after constructing the three-dimensional tunnel model, error correction is performed on the three-dimensional tunnel model.

[0043] The main source of error is the cumulative error of the instrument, which can be corrected by combining Kalman filtering with control points.

[0044] (1) Kalman filtering Assume the predicted state of the 3D tunnel model at time k is The state transition matrix is The state estimate at time k-1 is: The control input matrix is The control input is ,So: Error covariance prediction: in, Let the prediction error covariance be at time k. Let k be the posterior error covariance at time k-1. Process noise covariance.

[0045] Kalman gain calculation: in, For Kalman gain, For the observation matrix, To observe the noise covariance, the state update formula is: in, Let k be the posterior state estimate at time k. At any moment The observed values ​​of k. Update the error covariance: Where I is the identity matrix, Let be the posterior error covariance at time k.

[0046] The main method involves calculating the Kalman gain. To update the observation state estimate and error covariance .

[0047] (2) Control points Accuracy is controlled by establishing benchmark points along the tunnel, and the model is updated using interpolation. The main methods include: Linear interpolation: Where x and y are the points to be interpolated, and y is the corresponding interpolation result. , , , Let be the initial point.

[0048] Lagrange interpolation: Given n+1 data points ( , Lagrange interpolation formula: in, For Lagrange functions .

[0049] Newton interpolation: n+1 data points ( ): in, , Let be the initial point.

[0050] Trispline interpolation: A method for calculating continuous points using cubic polynomials. For the interval [xi, xi+1], a cubic polynomial is defined as follows: in, , , , The coefficients are given, and the interpolation condition is... and First derivative Second derivative .

[0051] In a specific embodiment, step S3 specifically includes: determining the pinch-out point of the ore body based on borehole data, and generating a three-dimensional solid model of the ore body using an interpolation algorithm; registering the three-dimensional solid model of the ore body with the three-dimensional tunnel model to obtain a registered three-dimensional solid model of the ore body; determining the spatial relationship between the registered three-dimensional solid model of the ore body and the three-dimensional tunnel model; and determining the docking ore body three-dimensional model based on the spatial relationship.

[0052] (1) Constructing a three-dimensional solid model of the ore body First, determine the pinch-out point of the ore body using interpolation, finite inference, and infinite inference methods.

[0053] Interpolation is mainly used to find the vanishing point through interpolation. The specific formula is as follows: In the formula, QI is the distance from the ore-bearing borehole to the boundary of the ore body, i.e., the pinch-out point. Grade at the boundary of the ore body , Let L represent the ore grade of industrially mined borehole A and non-industrially mined borehole B, and L be the distance between the two boreholes. If the ore body thickness in the non-mineralized borehole is less than the minimum minable thickness but the grade meets the requirements, then: In the formula, , The thickness of the ore body is represented by borehole A, which shows the mineralized ore-bearing borehole, and borehole B, which shows the non-industrial mineralized ore-bearing ore body. This is the minimum mineable thickness.

[0054] Modeling was performed using interpolation methods such as the natural critical point method, the inverse power distance method, and the Kriging method.

[0055] The natural critical point method uses the dual graph of a triangular network to perform arbitrary point interpolation, as shown in the following formula: In the formula, is the information value of a known point; D is the distance between the point to be interpolated and its naturally nearest known points; The critical influence distance is n, where n is the number of relevant known points. The value of the interpolation point is obtained separately for the k-th known point.

[0056] Inverse power law of distance: This method assumes that the closer the known point and the interpolation point are, the greater the correlation. The main calculation formula is: In the formula, denoted as , where is the distance from the interpolation point to the known point, and μ is the exponent.

[0057] Kriging: Based on covariance, it minimizes the interpolation points using linear regression. In the formula, Given the point value, These are weights, which can be solved using a combination of functions: In the formula, It is the value of the distance model variable graph between points i and j.

[0058] (2) Registration of the three-dimensional solid model of the ore body with the three-dimensional tunnel model First, the 3D solid model of the ore body and the 3D tunnel model need to be converted to the same coordinate system, that is, (X1,Y1,Z1) to (X2,Y2,Z2). The origins O1 and O2 of the two are different, and the coordinate axes are not parallel. During the conversion, in addition to the translation parameters (ΔX,ΔY,ΔZ), the rotation parameters (α,β,γ) corresponding to the Euler angles (εX,εY,εZ) are also needed. In addition, the scale change parameter κ needs to be set, for a total of 7 conversion parameters.

[0059] In the formula, .

[0060] The converted coordinates are consistent with the coordinates of the 3D tunnel model.

[0061] (3) Docking process like Figure 4 As shown, the docking of the two models mainly includes intersection, inclusion, and non-correlation. The monitoring of underground mine activity is either intersection or non-correlation. If the ore body is not fully mined, it is intersection; if the ore body is fully mined, it is non-correlation.

[0062] Intersection determination: Calculate the intersection line L using the triangular mesh T1 of the 3D tunnel model and the triangular mesh T2 of the registered 3D solid model of the ore body; determine whether the intersection line L and the intersection points A, B, C, D of the triangular meshes T1 and T2 form the intervals [A,B] and [C,D]. If they overlap, they intersect; otherwise, they do not intersect.

[0063] For an unrelated ore body A, consisting of n segments, the volume of the trapezoidal frustum is... ,density ,grade The ore quantity dA and metal quantity mA directly incorporate the total resource quantity of the ore body into the utilization quantity.

[0064] .

[0065] For intersecting ore bodies, it is necessary to cut out the intersecting ore body portion and then perform calculations.

[0066] The intersection line between the registered 3D solid model of the ore body and the ground of the 3D tunnel model is considered the intersecting part. The area enclosed by this intersection line is taken as the top surface of the ore body, and modeling is performed accordingly. The intersection line and the triangular mesh form a closed polygon, and triangular meshes are constructed for the vertices of the polygon. The vertices of the formed polygon are [V1,V2,V3,…,Vn]. Three points are selected in sequence, and it is determined whether they are collinear. If they are collinear, the middle point is deleted, and the above process is repeated until the end. These triangular meshes are used to construct surfaces through TIN, which serve as the top surface of the docking 3D ore body model.

[0067] In a specific embodiment, step S4 specifically includes: constructing earthwork based on the three-dimensional model of the docking ore body at two different preset times; dividing the earthwork into multiple segments along the tunnel direction and calculating the cross-sectional area of ​​each segment; calculating the volume of the trapezoidal frustum formed by every two cross-sections based on the cross-sectional area of ​​each segment; and summing the volumes of the trapezoidal frustum to obtain the earthwork quota.

[0068] Earthwork quota refers to the earthwork of the ore body, so it mainly calculates the earthwork quota of the mined portion of the ore body. Assuming the top surface of the 3D model of the ore body at the beginning of the year is S1, the top surface of the 3D model of the ore body at the end of the year is S2, and the side surface of the ore body is the side surface, the three together form a volume, and this volume is the earthwork quota.

[0069] The earthwork formed by S1, S2, and the side of the ore body is divided into n segments along a certain direction. The areas of the two cross-sections D1 and D2 of each segment are calculated using a DTM network. The area is then divided into m small triangular mesh areas. The cross-sectional area of ​​D1 is... The area of ​​D2 is ,So: For the area of ​​the small triangular mesh, , , Given the side lengths of the three sides of a triangular mesh, the volume of the trapezoidal frustum formed by every two cross-sections. Then sum them up: V represents the earthwork quota. This represents the distance between every two cross sections.

[0070] In one specific embodiment, step S5 specifically includes: ①Estimation of the amount of resources to be used.

[0071] The basic parameters for estimating the amount of resources to be utilized include the area, average thickness, dip angle, grade, and average weight of the ore body within the utilization range. Sometimes, ore moisture content and mineralization coefficient are also included. The data in the most recent exploration report should be used as the standard. Based on factors such as the geological body occurrence, faults, and exploration projects, the location of the profile lines is selected. The vertical profile method is used to extract the boundary lines of each profile line, which are then projected onto the reserve estimation map. Connecting the boundary points of each profile line delineates the range of resources to be utilized.

[0072] Depending on the scope of resource utilization, geometric methods (arithmetic mean method, geological block method, mining block method, cross-section method, contour line method, linear reserve method, trigonometric method, nearest area method, polygonal method), statistical analysis methods (distance-weighted method, kriging method), and SD method are used to calculate the amount of land covered. The geological block method and cross-section method are commonly used.

[0073] Quantity of ore used The basic formula for calculation: ; Basic formula for calculating the amount of metal used, M: In the formula, For the first The volume of the trapezoidal frustum. For the first The density of the trapezoidal frustum, For the first The taste of a trapezoidal frustum. This represents the number of trapezoidal frustums.

[0074] ② Verification of resource utilization: Verify the estimated ore volume V to be utilized. K If the difference between the two is less than the given limit ε, the calculation is considered valid and is taken as the amount of mobilization. The amount of mobilization calculated each year is the annual amount of mobilization. Otherwise, the calculation starts from the beginning.

[0075] ; .

[0076] Based on the same inventive concept, this application also provides a system for implementing the above-mentioned method for monitoring the annual resource utilization of underground mines based on a robotic dog. The solution provided by this system is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the monitoring system for annual resource utilization of underground mines based on a robotic dog provided below can be found in the limitations of the method for monitoring the annual resource utilization of underground mines based on a robotic dog described above, and will not be repeated here.

[0077] In one exemplary embodiment, a monitoring system for annual resource utilization in underground mining based on a robotic dog is provided, comprising the following modules.

[0078] The sensor data acquisition module is used to acquire sensor data when the robot dog moves in the underground tunnel; the robot dog is equipped with an inertial navigation module and a laser ranging module.

[0079] A 3D tunnel model construction module is used to construct a 3D tunnel model based on the sensor data.

[0080] The ore body 3D model construction module is used to construct a 3D solid model of the ore body and connect the 3D solid model of the ore body with the 3D tunnel model to obtain the docked ore body 3D model.

[0081] The earthwork quota calculation module is used to calculate the earthwork quota based on the three-dimensional model of the docking ore body at two different preset times.

[0082] The underground mining annual resource utilization calculation module is used to calculate the annual resource utilization of underground mining based on the earthwork quota; the annual resource utilization of underground mining includes the amount of ore and the amount of metal utilized.

[0083] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments. The computer device may be a server or a terminal. The computer device includes a processor, a memory, an input / output interface (I / O), and a communication interface. The processor, memory, and I / O are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device stores data to be processed. The I / O interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating with an external terminal via a network connection. When the computer program is executed by the processor, it implements the steps in the above-described method embodiments.

[0084] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0085] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0086] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0087] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0088] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for monitoring annual resource utilization in underground mining based on a robotic dog, characterized in that, include: The system acquires sensor data of the robotic dog as it moves through underground tunnels; the robotic dog is equipped with an inertial navigation module and a laser ranging module. A three-dimensional tunnel model is constructed based on the sensor data; A three-dimensional solid model of the ore body is constructed, and the three-dimensional solid model of the ore body is docked with the three-dimensional tunnel model to obtain a docked three-dimensional model of the ore body; The earthwork quota is calculated based on the three-dimensional model of the docking ore body at two different preset times. The annual resource utilization for underground mining is calculated based on the earthwork quota; the annual resource utilization for underground mining includes the amount of ore and the amount of metal utilized.

2. The method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in claim 1, is characterized in that... Constructing a three-dimensional tunnel model based on the aforementioned sensor data specifically includes: The sensor data is fused with inertial navigation calculation and laser ranging to transform it into a three-dimensional spatial point cloud; The mechanical dog interpolates the three-dimensional spatial point cloud data to generate a three-dimensional tunnel model.

3. The method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in claim 1, is characterized in that... After constructing a three-dimensional tunnel model based on the sensor data, the method further includes: performing error correction on the three-dimensional tunnel model.

4. The method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in claim 1, is characterized in that... Constructing a three-dimensional solid model of the ore body specifically includes: The pinch-out point of the ore body was determined based on borehole data, and a three-dimensional solid model of the ore body was generated using an interpolation algorithm.

5. The method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in claim 1, is characterized in that... The 3D solid model of the ore body is docked with the 3D tunnel model to obtain the docked 3D ore body model, specifically including: The three-dimensional solid model of the ore body is registered with the three-dimensional tunnel model to obtain the registered three-dimensional solid model of the ore body. Determine the spatial relationship between the registered 3D solid model of the ore body and the 3D tunnel model; Based on the spatial relationship, a three-dimensional model of the docking ore body was determined.

6. The method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in claim 1, is characterized in that... The earthwork quota is calculated based on two 3D models of the docking ore bodies at two different preset times, specifically including: Earthwork was constructed based on three-dimensional models of ore bodies connected at two different preset times; The earthwork is divided into multiple sections along the tunnel direction, and the cross-sectional area of ​​each section is calculated. Calculate the volume of the trapezoidal frustum formed by two sections based on the cross-sectional area of ​​each section. The earthwork quota is obtained by summing the volumes of the trapezoidal frustum.

7. The method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in claim 1, is characterized in that... The formula for calculating the annual resource utilization of underground mining is as follows: in, To utilize the amount of ore, In order to utilize the amount of metal, For the first The volume of a trapezoidal frustum For the first The density of a trapezoidal frustum For the first The taste of a trapezoidal frustum. This represents the number of trapezoidal frustums.

8. A monitoring system for annual resource utilization in underground mining based on a robotic dog, characterized in that, include: The sensor data acquisition module is used to acquire sensor data when the robot dog moves in the underground tunnel; the robot dog is equipped with an inertial navigation module and a laser ranging module. A 3D tunnel model construction module is used to construct a 3D tunnel model based on the sensor data. The ore body 3D model construction module is used to construct a 3D solid model of the ore body and connect the 3D solid model of the ore body with the 3D tunnel model to obtain the docked ore body 3D model; The earthwork quota calculation module is used to calculate the earthwork quota based on the three-dimensional model of the docking ore body at two different preset times. The underground mining annual resource utilization calculation module is used to calculate the annual resource utilization of underground mining based on the earthwork quota; the annual resource utilization of underground mining includes the amount of ore and the amount of metal utilized.

9. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method for monitoring annual resource utilization in underground mining based on a mechanical dog, as described in any one of claims 1-7.

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