A method, device and readable storage medium for positioning a mining rotary drill rig

Abstract

The application provides a positioning method, device and readable storage medium for a mine-used rotary drill rig, and relates to the field of positioning of the mine-used rotary drill rig. The method comprises the following steps: acquiring visible light images around a mine before mining of the mine to obtain an original image set; modeling is performed according to the original image set to generate a mine environment model; a working position and a reference position of the mine-used rotary drill rig are marked in the mine environment model, and a working coordinate set and a reference coordinate set are generated; infrared images corresponding to the working coordinate set and the reference coordinate set in the mining process of the mine are acquired, registration is performed according to the infrared images and the original image set to obtain registered images; and positioning calibration data is generated based on the registered images, and the positioning calibration data is used to adjust working data of the mine-used rotary drill rig.

Description

Technical Field

[0001] This application relates to the field of positioning of mining rotary drilling rigs, and in particular to a positioning method, apparatus and readable storage medium for mining rotary drilling rigs. Background Technology

[0002] A rotary drill rig typically refers to a drilling rig / tool ​​system that uses rotary drill bits for rotary drilling, and is widely used in mine blasting hole construction. Drilling operations in open-pit mines are a crucial part of mining operations, and the accuracy of the drilling location and depth directly affects subsequent charging, blasting effects, and the quality of ore crushing and throwing. Therefore, high precision is required for drilling positioning.

[0003] In open-pit mining, the work area is often located in mountainous environments with significant topographic relief, high mountains, and densely distributed terrain. These terrain conditions easily cause obstruction and multipath reflection of satellite or wireless communication signals, leading to loss of positioning signals, positioning drift, or decreased positioning accuracy. Especially during drilling with roller cone drills, the drill needs to align the hole and control the drilling path based on positioning information. When the positioning information is unstable or drifts, it can cause inaccurate hole alignment, resulting in a significant deviation between the actual drilled hole position and the designed hole position. This affects the blasting hole network parameters and reduces the overall quality and efficiency of the blasting operation.

[0004] Furthermore, significant dust pollution is typically generated during open-pit mine drilling operations. The large amounts of dust produced during drilling not only reduce visibility in the working environment but can also interfere with the signal reception and transmission of the positioning system, further leading to problems such as inaccurate positioning, signal weakening, or short-term interruptions. When using BeiDou positioning or GPRS-based positioning systems on-site, the combined effects of mountain obstruction and dust pollution can easily reduce positioning stability and reliability, resulting in increased drilling positioning errors and excessive borehole deviations, making it difficult to meet the accuracy requirements for blasting hole construction.

[0005] Meanwhile, open-pit mines are often accompanied by gusty or persistent winds. Wind forces can increase the spread and concentration fluctuations of dust during drilling, further affecting the stable reception and transmission of positioning signals. Furthermore, wind loads can cause slight swaying or attitude changes in the drilling rig mast, drill bits, and related measuring components, resulting in additional displacement or angular deviations during hole alignment and drilling. The combined effect of these factors can exacerbate drilling positioning errors, leading to problems such as hole offset, increased hole inclination, or uneven hole spacing, ultimately affecting the overall accuracy and construction quality of the blasting hole network. Summary of the Invention

[0006] In view of this, this application provides a positioning method, apparatus and readable storage medium for a mining rotary drilling rig, which solves the above-mentioned technical problems.

[0007] In a first aspect, embodiments of this application provide a positioning method for a mining rotary drill rig, including: Obtain visible light images of the area surrounding the mine before mining operations begin, resulting in the original image set; A mine environment model is generated based on the original image set. The operating position and reference position of the mining rotary drilling rig are marked in the mining environment model, and the operating coordinates and reference coordinates set are generated; Infrared images corresponding to the working coordinates and the reference coordinate set during the mining process are acquired, and the infrared images and the original image set are registered to obtain the registered image. Based on the registered image, positioning calibration data is generated, which is used to adjust the working data of the mining rotary drill.

[0008] Secondly, embodiments of this application provide a positioning device for a mining rotary drill rig, comprising: The first image acquisition module is used to acquire visible light images of the area surrounding the mine before mining operations, and to obtain the original image set. The modeling module is used to model based on the original image set and generate a mine environment model; The coordinate generation module is used to mark the working position and reference position of the mining rotary drilling rig in the mining environment model, and to generate the working coordinates and reference coordinate set; The second image acquisition module is used to acquire infrared images corresponding to the working coordinates and the reference coordinate set during the mining process, and to perform registration based on the infrared images and the original image set to obtain the registered image. The calibration data generation module is used to generate positioning calibration data based on the registered image, and the positioning calibration data is used to adjust the working data of the mining rotary drill.

[0009] Thirdly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0010] The positioning method, apparatus, and readable storage medium for mining rotary drilling rigs in this application establish a stable spatial reference through visible light modeling before construction and achieve calibration independent of satellite visibility during construction using infrared image registration. Infrared images are introduced during the construction phase to improve observability in dusty environments, and quantifiable calibration data is generated based on the registered images to achieve positioning compensation.

[0011] Improve positioning stability and accuracy, reduce problems such as hole position deviation, hole inclination, and uneven hole spacing, and enhance the accuracy and construction quality of blasting hole mesh.

[0012] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart illustrating a positioning method for a mining rotary drill rig according to an embodiment of this application is shown. Figure 2 A structural block diagram of a positioning device for a mining rotary drill rig according to an embodiment of this application is shown. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0015] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0016] The positioning method, apparatus and readable storage medium for mining rotary drills provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0017] This application provides a positioning method for a mining rotary drill rig, such as... Figure 1 As shown, the method includes: Step 101: Obtain visible light images of the area surrounding the mine before mining operations begin, thus obtaining the original image set.

[0018] In this embodiment, before mining operations begin, i.e., before blasting operations commence, visible light images of the surrounding environment of the work area are acquired, forming an original image set. The acquisition of visible light images can be accomplished using fixed cameras, UAV aerial survey cameras, vehicle-mounted / airborne cameras, or on-site acquisition equipment. The acquisition range can cover the planned drilling area and its surrounding landmarks, slope outlines, mountain feature points, etc.

[0019] By pre-collecting raw image sets, a reference benchmark is provided for subsequent modeling and registration, so that positioning no longer depends entirely on a single satellite / communication signal source, improving the robustness and continuity of positioning in obstructed environments.

[0020] Step 102: Model the mine environment based on the original image set.

[0021] The surrounding environment of the mining area is modeled based on the original image set to obtain a modeled mining environment. The mining environment model can be in the form of a two-dimensional map model, a three-dimensional point cloud model, a three-dimensional mesh model, or a digital surface model containing terrain elevation information, etc. The modeling process can be implemented using methods such as feature point extraction and matching, structured bundle method (SfM), and multi-view geometric reconstruction, thereby obtaining a spatial representation of the mining environment under a unified coordinate system.

[0022] Mine environment models provide a stable spatial reference and can be used for long-term or cross-period positioning calibration. When positioning signals are obstructed and drift occurs, the mine environment model can be used to match current observations with historical environments, thereby suppressing drift accumulation and improving borehole alignment accuracy.

[0023] Step 103: Mark the working position and reference position of the mining rotary drilling rig in the mine environment model, and generate the working coordinates and reference coordinates set.

[0024] The operating position and reference position of the mining rotary drilling rig are marked in the mining environment model, and operating coordinates and reference coordinate sets are generated. The operating position can be the designed borehole location, the borehole to be drilled, or a target point in the drilling rig's operating area; the reference position can be a stably identifiable feature location in the mining environment model, such as the highest point of a mountain / slope, a bend point, the endpoint of a platform boundary, or the corner point of a fixed structure. The reference coordinate set can include coordinates corresponding to multiple reference positions to form multi-point constraints.

[0025] Using a reference coordinate set can improve the observability and reliability of registration, reduce the risk of overall calibration failure due to single-point errors, and enable the drilling rig to obtain a more stable spatial reference during the hole alignment stage, thereby reducing problems such as hole position offset and uneven hole spacing.

[0026] In one embodiment of this application, the operating position and reference position of the mining rotary drilling rig are marked in the mining environment model, and a set of operating coordinates and reference coordinates is generated, including: The operating positions of the mining rotary drilling rig are marked in the original image set, and these positions are mapped to the mine environment model to generate operating coordinates; and, Mark the highest points in at least three directions in the original image set as reference positions, and map the reference positions into the mine environment model to generate a reference coordinate set.

[0027] In this embodiment, firstly, the operating position of the mining rotary drilling rig is determined and marked from the original image set, such as the designed borehole position, the borehole to be drilled, or a target point in the planned operating area. Then, the positional relationship of this operating position in the images is mapped to the aforementioned modeled mining environment model, thereby generating corresponding operating coordinates in the mining environment model coordinate system. By marking the operating position in the original image set before construction and uniformly mapping it to the mining environment model, the borehole position information at the planning level can be converted into measurable spatial coordinates in the mining environment model coordinate system, providing a clear target reference for subsequent infrared image registration, positioning calibration data generation, and drilling rig borehole alignment.

[0028] On the one hand, the operation coordinates are uniformly expressed in the mine environment model, which is beneficial for achieving stable indication and positioning compensation of the operation hole position based on the mine environment model when the positioning signal is unstable due to mountain obstruction, dust interference, etc. On the other hand, the operation coordinates serve as the basic data for subsequent vector calculation and deviation comparison with the reference coordinate set, which can reduce hole alignment errors, improve the hole position accuracy and consistency of blasting hole construction, and reduce the drilling deviation and rework risk caused by positioning drift.

[0029] Furthermore, in this embodiment, at least three highest points in different directions are selected and marked as reference positions from the original image set. Subsequently, each reference position is mapped onto the mine environment model, generating corresponding reference coordinates in the mine environment model coordinate system, thus forming a reference coordinate set. By selecting "at least three highest points in at least three directions" as reference positions, significant feature points of natural terrain such as mountains / slopes in the mining area can be used to construct multi-point spatial constraints, giving the environment model a reliable reference frame. The setting of multiple directions and multiple reference points provides a stable matching target for subsequent registration of infrared images with the original image set and provides a geometric reference for the generation of positioning calibration data.

[0030] Understandably, the highest point usually has obvious contour features and relative stability, and its position is not easily changed due to ground operations or equipment movement, making it suitable as a long-term reference benchmark.

[0031] Reference points in at least three directions can form a stronger spatial constraint relationship, which helps to reduce the risk of registration failure caused by errors of a single reference point or local occlusion and dust interference, thereby improving the stability and accuracy of registration and positioning calibration, reducing borehole position deviation, and improving the consistency and overall quality of blasting hole network construction.

[0032] In one embodiment, three fixed locations at different heights and in different directions in the mining environment model are selected from the original image set as reference locations.

[0033] In this embodiment, three fixed locations at different heights and in different directions within the mine environment model are selected from the original image set as reference locations. These fixed locations can be targets or structures that are not prone to displacement, such as the bend points of stable slopes, the endpoints of step platforms, the corner points of fixed structures, or characteristic inflection points of rock mass contours. Furthermore, the three fixed locations can be spatially dispersed as much as possible to form a more distinct geometric baseline.

[0034] By selecting fixed reference positions at different heights and in different directions, stronger constraints can be established in three-dimensional space, enabling subsequent registration, mapping, and calibration calculations to simultaneously constrain and correct for planar position deviations and elevation / attitude changes. Compared to cases where reference points are too concentrated or at similar heights, this approach is more conducive to stabilizing the estimation of coordinate transformation relationships and reducing calibration distortion caused by errors in a single direction or local occlusion.

[0035] The fixed position itself offers high stability, avoiding systematic errors caused by reference point movement. Three-point references at different heights and directions significantly improve the observability and robustness of the registration solution, making the calibration results less sensitive to dust obstruction, changes in illumination, and localized wind disturbances. This enhances the accuracy and stability of the positioning calibration for mining rotary drilling rigs, reduces the risk of hole position deviation, increased hole inclination, and mismatched hole network parameters, and improves the quality and efficiency of blasting hole construction.

[0036] Step 104: Obtain the infrared images corresponding to the working coordinates and reference coordinates set during the mining process, and register the infrared images with the original image set to obtain the registered images.

[0037] In the process of mining, i.e., drilling operations, infrared images corresponding to the working coordinates and reference coordinates are acquired. These infrared images are then registered with the original image set to obtain a registered image. Infrared images can be acquired by an infrared camera, which can be aligned with the working area and the area where the reference position is located, ensuring that the infrared images contain terrain boundaries, structural outlines with significant differences in thermal radiation, or target features that can be used for matching.

[0038] The registered images can reflect the deviation of the current environmental observations from the pre-mining environmental baseline, providing data support for positioning correction. Compared to relying solely on signals such as BeiDou / GPRS, image registration does not depend on satellite visibility and communication quality, and can maintain positioning continuity even when obstructed by mountains or with weakened signals, reducing borehole deviations caused by positioning drift.

[0039] In one embodiment of this application, acquiring infrared images corresponding to the working coordinates and reference coordinate set during mining operations includes: Determine the dynamic properties of the target object at the reference location; If the dynamic attribute of the target object at the reference location is a fixed object, then obtain the infrared image corresponding to the working coordinates and reference coordinate set during the mining process; If the dynamic attribute of the target object at the reference position is semi-fixed, then the reference coordinate set is calibrated to obtain the operation coordinates during mining and the infrared image corresponding to the calibrated reference coordinate set.

[0040] In this embodiment, the dynamic attributes of the target object at the reference location are determined. The dynamic attributes of the target object include fixed objects, semi-fixed objects, and moving objects; that is, it is determined whether the object at the reference location is a fixed object, a semi-fixed object, or a moving object. Fixed objects include, for example, mountain contour inflection points, slope stabilization structures, and fixed structures, which are objects with fixed positions. Semi-fixed objects in open-pit mines may experience observable slight shifts or swaying due to gusts or continuous winds, such as trees. Moving objects are objects whose positions can change during the operation process, such as vehicles, personnel, mobile equipment, and temporary stockpiles.

[0041] When the judgment result is a fixed object, during the mining process, the infrared image of the area corresponding to the working coordinates and reference coordinates is directly acquired, and the infrared image is registered with the original image set obtained before mining to obtain the registered image.

[0042] By determining whether the reference location is a fixed object and performing registration between the infrared image and the original image set under the condition of a fixed object, it can be ensured that the reference features on which the registration is based remain consistent in position before and after construction, avoiding the introduction of systematic errors by mistakenly using movable targets (such as vehicles, personnel, temporary stockpiles, etc.) as reference points, thereby improving the reliability and stability of the registration results.

[0043] Fixed reference points are characterized by long-term stability and repeatability, which enables infrared image registration to provide reliable calibration basis even when the positioning signal is unstable due to mountain obstruction or dust interference.

[0044] The registered images obtained under the constraint of fixed objects can more accurately reflect the actual deviation of the working position relative to the mining environment model, reduce the probability of misregistration, thereby reducing hole alignment error and drilling deviation, and improving the positioning accuracy and construction consistency of blasting hole construction.

[0045] When the judgment result is a semi-fixed object, the reference coordinate set is calibrated. During the mining process, the infrared image of the area corresponding to the working coordinates during the mining process and the calibrated reference coordinate set is obtained, and the infrared image is registered with the original image set obtained before mining to obtain the registered image.

[0046] In one embodiment of this application, calibrating the reference coordinate set includes: acquiring the ambient wind force and direction at the work site in real time, and generating ambient wind data based on the ambient wind force and direction; calibrating the reference coordinate set based on the ambient wind data to obtain reference coordinates that are more consistent with the current working conditions.

[0047] In open-pit mines, semi-fixed objects may experience observable slight shifts or swaying due to gusts or sustained winds. If the pre-existing reference coordinates are directly used for registration and positioning calculations, this shift can easily be mistaken for a drilling rig position deviation, thus amplifying the positioning error. By incorporating environmental wind data to compensate for wind effects on the reference coordinate set, the reference coordinates can be dynamically corrected according to operating conditions, thereby maintaining the validity of the reference system. Specifically, the displacement of the semi-fixed object under wind influence can be determined based on its deformation, and the reference coordinate set can then be compensated based on this displacement.

[0048] By using real-time wind force / direction driven reference coordinate calibration, the impact of wind-induced disturbances on the stability of the reference position can be reduced, registration errors and positioning drift caused by the displacement of semi-fixed reference points can be reduced, and the positioning reliability and hole alignment accuracy of mining rotary drills in windy and dusty environments can be improved. This can reduce the risks of drilling deviation and increased hole inclination, and improve the construction quality and operation efficiency of blasting hole networks.

[0049] In one embodiment of this application, the method further includes: if the dynamic attribute of the target object at the reference position is a moving object, then generating a reference position anomalous signal.

[0050] In this embodiment, when the reference position is determined to be a moving object, a reference position anomaly signal is generated, and infrared image acquisition is not performed. The reference position anomaly signal can be used to indicate that the current reference position does not meet the stable reference conditions and trigger corresponding processing, such as: prohibiting the moving object from being used as a reference point in subsequent registration and calibration; or removing the reference position from the reference coordinate set; or reselecting a fixed or semi-fixed object as the reference position.

[0051] Because the position of moving objects is uncertain and changes frequently during construction, if they are mistakenly used as reference positions, the registration calculation will misinterpret the movement of the reference point itself as the displacement of the drilling rig or work point, thus introducing systematic bias and causing calibration data distortion. This embodiment achieves active interception and marking of unreliable reference points by directly outputting an abnormal signal when moving objects are detected, ensuring the stability and repeatability of the reference system.

[0052] It can effectively avoid miscalibration caused by the participation of active targets in registration, reduce the risk of amplified positioning drift, and improve the reliability of image registration and positioning calibration data generation. At the same time, the rejection / reselection mechanism triggered by abnormal signals can improve the robustness and safety of the positioning method in the dynamic operating environment of open-pit mines, reduce quality problems such as hole position deviation and increased hole inclination, and improve the overall consistency and efficiency of blasting hole construction.

[0053] Step 105: Based on the registered image, generate positioning calibration data, which is used to adjust the working data of the mining rotary drilling rig.

[0054] The registered image is mapped onto the mine environment model to generate positioning calibration data. This positioning calibration data may include, but is not limited to: corrections to the working coordinates, transformation matrices between the environmental model coordinate system and the field coordinate system (e.g., translation, rotation, scaling), and a set of parameters for subsequent drilling rig control or positioning compensation. Using the positioning calibration data, the current borehole alignment of the drilling rig can be corrected, or the positioning output during subsequent drilling can be compensated.

[0055] The generated positioning calibration data can be updated in real time or periodically during drilling operations, ensuring that the drilling rig positioning results are consistent with the environmental model. This improves hole alignment accuracy, reduces the probability of hole offset and increased hole inclination, and enhances the overall consistency and construction quality of the blasting hole network. At the same time, it reduces rework, hole repair, or poor blasting effects caused by positioning errors, thereby improving production efficiency and safety.

[0056] A stable spatial benchmark is established through visible light modeling before construction, and infrared image registration is used during construction to achieve calibration independent of satellite visibility. Infrared images are introduced during the construction phase to improve observability in dusty environments. After registration, the images are mapped onto the environmental model to generate quantifiable positioning calibration data, thereby achieving positioning compensation.

[0057] Improve positioning stability and accuracy, reduce problems such as hole position deviation, hole inclination, and uneven hole spacing, and enhance the accuracy and construction quality of blasting hole mesh.

[0058] In one embodiment of this application, positioning calibration data is generated based on the registered image, including: Calculate the vector between the job coordinates and each reference coordinate in the registered image to generate a calibration vector; Positioning calibration data is generated based on all calibration vectors.

[0059] In this embodiment, the spatial vectors between the work coordinates and each reference coordinate are calculated to obtain the corresponding calibration vectors. By expressing the geometric relationship between the work points and reference points in vector form, the spatial constraints of multiple reference points can be unified into the same mathematical framework. Then, positioning calibration data is generated based on all calibration vectors. For example, this generates compensation amounts for the work coordinates, transformation parameters (translation / rotation, etc.) between the environmental model coordinate system and the field coordinate system, or a set of calibration parameters for subsequent control. The joint participation of multiple calibration vectors in generating positioning calibration data is beneficial for averaging or eliminating errors at individual reference points, thereby obtaining more stable calibration results.

[0060] Multi-vector constraints make positioning calibration data less sensitive to local occlusion, dust interference, or individual reference point identification errors, thus improving the robustness of positioning calibration.

[0061] It is understandable that, as described in the above embodiments, if the dynamic attribute of the target object at the reference location is a semi-fixed object, the reference coordinate set is calibrated based on the environmental wind data, and then an infrared image is acquired based on the working coordinates during mining and the calibrated reference coordinate set. In this embodiment, if the dynamic attribute of the target object at the reference location is a semi-fixed object, the reference coordinates for generating the calibration vector are also calibrated based on the environmental wind data. By compensating for the reference coordinate set under the influence of the environmental wind data, the calibration process not only depends on the image registration result but also reflects the impact of wind-induced disturbances on the stability of the reference point.

[0062] The calibration vector generated by combining environmental wind data can suppress systematic errors caused by wind-induced reference point offset, making the generated positioning calibration data closer to the actual working conditions. This improves the hole alignment accuracy of mining rotary drills, reduces the risk of drilling deviation and hole inclination, and enhances the consistency and efficiency of blasting hole network construction.

[0063] In one embodiment of this application, after generating positioning calibration data, the method further includes: Map the job coordinates and each reference coordinate in the registered image to the original image set to generate the original job coordinates and the original reference coordinates; Calculate the vector between the original job coordinates and each original reference coordinate to generate the original vector; The original vector is compared with the calibration vector to determine the target calibration vector that matches the original vector, and the working data of the mining rotary drill is adjusted based on the positioning calibration data corresponding to the target calibration vector.

[0064] In this embodiment, the working coordinates and each reference coordinate in the registered image are backmapped to the image coordinate system corresponding to the original image set to obtain the original working coordinates and the original reference coordinates. Vector relationships are calculated based on the original working coordinates and the original reference coordinates to form original parameters. Then, the original parameters are compared one-to-one with the calibration vectors obtained during construction to obtain different difference results. It is determined whether each difference result is equal. For example, if the original parameters include a1, a2, and a3, and the calibration vectors include b1, b2, and b3, the difference results between the original parameters and the calibration vectors are c1, c2, and c3. The magnitude and direction of c1, c2, and c3 are compared. If the difference results are equal or a preset consistency condition exists, the calibration vector matches the original vector. The working data of the mining rotary drill is adjusted according to the corresponding positioning calibration data. There is also a corresponding relationship between the calibration vector and the positioning calibration data. For example, if the magnitude and direction of the difference results c1 and c2 are consistent, then the calibration vectors b1 and b2 are the target calibration vectors. The working data of the mining rotary drill is further adjusted according to the positioning calibration data corresponding to the calibration vectors b1 and b2.

[0065] By comparing the original parameters with the calibration vector, a consistency judgment mechanism for the geometric relationship before and after construction is established: when the two are consistent, it indicates that the current reference system is reliable and the calibration results are credible, and the positioning calibration data can be used to guide the positioning / control compensation of the drilling rig. At the same time, the adjustment of the drilling rig's working data is triggered based on the comparison results, so that the drilling rig can promptly correct the hole alignment or drilling control parameters after the positioning deviation is identified, forming a closed-loop control logic.

[0066] This consistency comparison can screen for miscalibrations caused by registration errors, abnormal reference points, or local obstruction, reducing the risk of borehole position deviations due to the misuse of unreliable positioning calibration data for control. When consistency is achieved, automatically adjusting drilling rig operating data using positioning calibration data improves the real-time performance and accuracy of positioning compensation, reduces the probability of increased drilling deviation and borehole inclination, enhances the consistency of blasting hole network parameters and construction efficiency, and reduces costs associated with rework and hole repair.

[0067] In one embodiment of this application, the method further includes: generating a reference position anomaly signal if no target calibration vector matches the original vector.

[0068] In this embodiment, after comparing the original parameters with the calibration vector, if the results are completely different (e.g., failing to meet a preset consistency condition, exceeding a threshold, or lacking a matching correspondence; in this embodiment, this difference lies in the vector's magnitude and direction), a reference position anomaly signal is generated. This reference position anomaly signal can be used to trigger an alarm, record anomaly events, suspend the use of that reference position for calibration, or switch to another reference position / other positioning strategy.

[0069] When a non-negligible change occurs in the reference position, such as when the reference point is obstructed, damaged, or moved, or when registration errors occur, the failure of the reference system can be identified and marked in a timely manner, preventing the continued use of erroneous calibration results for positioning compensation or drilling rig control, thereby protecting the reliability of the positioning link.

[0070] This abnormal signal mechanism can reduce the risk of systematic positioning deviations caused by misregistration, incorrect reference points, or sudden environmental changes, and improve the robustness and safety of the positioning method under conditions of mountainous obstruction, dust interference, and frequent changes in on-site operations. At the same time, through timely alarms or strategy switching, it can reduce construction quality problems such as hole position deviation and increased hole inclination, as well as the resulting rework and hole repair costs, thereby improving the reliability and efficiency of blasting hole construction.

[0071] As a specific implementation of the above-mentioned positioning method for mining rotary drilling rigs, this application provides a positioning device for mining rotary drilling rigs. For example... Figure 2 As shown, the positioning device 200 for a mining rotary drill includes: a first image acquisition module 201, a modeling module 202, a coordinate generation module 203, a second image acquisition module 204, and a calibration data generation module 205.

[0072] The first image acquisition module 201 is used to acquire visible light images of the area surrounding the mine before mining, and to obtain an original image set; Modeling module 202 is used to perform modeling based on the original image set to generate a mine environment model; The coordinate generation module 203 is used to mark the working position and reference position of the mining rotary drilling rig in the mining environment model, and to generate the working coordinates and reference coordinate set; The second image acquisition module 204 is used to acquire infrared images corresponding to the working coordinates and the reference coordinate set during the mining process, and to perform registration based on the infrared images and the original image set to obtain the registered image. The calibration data generation module 205 is used to generate positioning calibration data based on the registered image, and the positioning calibration data is used to adjust the working data of the mining rotary drill.

[0073] Furthermore, the coordinate generation module 203 is specifically used for: The operating position of the mining rotary drilling rig is marked in the original image set, and the operating position is mapped to the mining environment model to generate the operating coordinates; and, Mark the highest points in at least three directions in the original image set as reference positions, and map the reference positions into the mine environment model to generate the reference coordinate set.

[0074] Furthermore, the second image acquisition module 204 is specifically used for: Determine the dynamic properties of the target object at the reference location; If the dynamic attribute of the target object at the reference position is a fixed object, then the infrared image corresponding to the working coordinates and the reference coordinate set during the mining process is obtained; If the dynamic attribute of the target object at the reference position is a semi-fixed object, then the reference coordinate set is calibrated to obtain the infrared image corresponding to the working coordinates and the calibrated reference coordinate set during the mining process.

[0075] Furthermore, the device also includes: an abnormal signal generation module, used for: If the dynamic attribute of the target object at the reference position is a moving object, then an abnormal signal for the reference position is generated.

[0076] Furthermore, the second image acquisition module 204 is specifically used for: Acquire ambient wind force and ambient wind direction, and generate ambient wind data based on the ambient wind force and ambient wind direction; The reference coordinate set is calibrated based on the environmental wind data.

[0077] Furthermore, the calibration data generation module 205 is specifically used for: Calculate the vector between the job coordinates and each reference coordinate in the registered image to generate a calibration vector; Positioning calibration data is generated based on all the aforementioned calibration vectors.

[0078] Furthermore, the device further includes: a verification module, used for: After generating the positioning calibration data, the job coordinates and each reference coordinate in the registered image are mapped to the original image set to generate the original job coordinates and the original reference coordinates. Calculate the vector between the original job coordinates and each of the original reference coordinates to generate the original vector; The original vector is compared with the calibration vector to determine the target calibration vector that matches the original vector, and the working data of the mining rotary drill is adjusted based on the positioning calibration data corresponding to the target calibration vector.

[0079] Furthermore, the abnormal signal generation module is also used for: If no target calibration vector matches the original vector, a reference position anomaly signal is generated.

[0080] The mining rotary drill positioning device 200 in this application embodiment can be a computer device or a component within a computer device, such as an integrated circuit or a chip. The mining rotary drill positioning device 200 provided in this application embodiment can achieve... Figure 1 The various processes implemented in the embodiment of the positioning method for mining rotary drills will not be described again here to avoid repetition.

[0081] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described mining rotary drill positioning method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0082] It should be noted that, in this document, 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 that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0083] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning method for a mining rotary drill rig, characterized in that, include: Obtain visible light images of the area surrounding the mine before mining operations begin, resulting in the original image set; A mine environment model is generated based on the original image set. The operating position and reference position of the mining rotary drilling rig are marked in the mining environment model, and the operating coordinates and reference coordinates set are generated; Infrared images corresponding to the working coordinates and the reference coordinate set during the mining process are acquired, and the infrared images and the original image set are registered to obtain the registered image. Based on the registered image, positioning calibration data is generated, which is used to adjust the working data of the mining rotary drill.

2. The positioning method for a mining rotary drill rig according to claim 1, characterized in that, The step of marking the operating position and reference position of the mining rotary drilling rig in the mining environment model and generating the operating coordinates and reference coordinates set includes: The operating position of the mining rotary drilling rig is marked in the original image set, and the operating position is mapped to the mining environment model to generate the operating coordinates; and, Mark the highest points in at least three directions in the original image set as reference positions, and map the reference positions into the mine environment model to generate the reference coordinate set.

3. The positioning method for a mining rotary drill rig according to claim 1, characterized in that, The acquisition of infrared images corresponding to the operational coordinates and the reference coordinate set during the mining process includes: Determine the dynamic properties of the target object at the reference location; If the dynamic attribute of the target object at the reference position is a fixed object, then the infrared image corresponding to the working coordinates and the reference coordinate set during the mining process is obtained; If the dynamic attribute of the target object at the reference position is a semi-fixed object, then the reference coordinate set is calibrated to obtain the infrared image corresponding to the working coordinates and the calibrated reference coordinate set during the mining process.

4. The positioning method for a mining rotary drill rig according to claim 3, characterized in that, The method further includes: If the dynamic attribute of the target object at the reference position is a moving object, then an abnormal signal for the reference position is generated.

5. The positioning method for a mining rotary drill rig according to claim 3, characterized in that, The calibration of the reference coordinate set includes: Acquire ambient wind force and ambient wind direction, and generate ambient wind data based on the ambient wind force and ambient wind direction; The reference coordinate set is calibrated based on the environmental wind data.

6. The positioning method for a mining rotary drill rig according to claim 1, characterized in that, The step of generating positioning calibration data based on the registered image includes: Calculate the vector between the job coordinates and each reference coordinate in the registered image to generate a calibration vector; Positioning calibration data is generated based on all the aforementioned calibration vectors.

7. The positioning method for a mining rotary drill rig according to claim 6, characterized in that, After generating positioning calibration data, the method further includes: The job coordinates and each reference coordinate in the registered image are mapped to the original image set to generate the original job coordinates and the original reference coordinates; Calculate the vector between the original job coordinates and each of the original reference coordinates to generate the original vector; The original vector is compared with the calibration vector to determine the target calibration vector that matches the original vector, and the working data of the mining rotary drill is adjusted based on the positioning calibration data corresponding to the target calibration vector.

8. The positioning method for a mining rotary drill rig according to claim 7, characterized in that, The method further includes: If no target calibration vector matches the original vector, a reference position anomaly signal is generated.

9. A positioning device for a mining rotary drill rig, characterized in that, include: The first image acquisition module is used to acquire visible light images of the area surrounding the mine before mining operations, and to obtain the original image set. The modeling module is used to model based on the original image set and generate a mine environment model; The coordinate generation module is used to mark the working position and reference position of the mining rotary drilling rig in the mining environment model, and to generate the working coordinates and reference coordinate set; The second image acquisition module is used to acquire infrared images corresponding to the working coordinates and the reference coordinate set during the mining process, and to perform registration based on the infrared images and the original image set to obtain the registered image. The calibration data generation module is used to generate positioning calibration data based on the registered image, and the positioning calibration data is used to adjust the working data of the mining rotary drill.

10. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the positioning method for a mining rotary drilling rig as described in any one of claims 1 to 8.

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