Open-pit mine dump transport path planning method, device, equipment and storage medium

Abstract

The present application discloses a kind of open-pit mine dump transport path planning method, device, equipment and storage medium, comprising: based on the geological parameter information of mining area and surrounding gully unit Establish gully management evaluation model, and based on gully management evaluation model Determine the gully management area of priority meeting preset conditions of management;Based on the digital elevation model of gully management area and mining area Construction dump transport space resistance coefficient surface;Based on dump transport space resistance coefficient surface And preset path total cost function, generate dump transport path, to according to dump transport path Mining stripping material is transported to gully management area for ecological filling treatment.The present application solves the problem that existing planning method is difficult to quantitatively evaluate transport feasibility and path accessibility, so that the dump path alignment and gully management space are matched, and the optimal dump path with construction, high connectivity and suitable for complex terrain conditions is also realized.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of mining area transportation route planning technology, and in particular to a method, apparatus, equipment and storage medium for planning the transportation route of open-pit mine spoil. Background Technology

[0002] During the stripping process in open-pit mining, a large amount of waste rock (rock and soil) is generated and needs to be transported to a spoil heap for centralized disposal via designated routes. However, due to restrictions imposed by temporary land use policies or land acquisition, open-pit mines generally face challenges such as insufficient internal disposal space, exceeding design elevations for spoil disposal, and difficulties in expanding production capacity. The numerous natural gullies surrounding open-pit mines in the Loess Gully region possess excellent spoil carrying capacity and ecological restoration potential. Against this backdrop, how to rationally plan spoil disposal routes under complex terrain and multiple constraints to improve spoil disposal efficiency and reduce engineering disturbance has become a key technical challenge in the coordinated management of mining area space utilization and ecological restoration.

[0003] However, existing waste disposal route planning mainly relies on manual experience or proximity principles for route selection, lacking a systematic analysis of terrain conditions, traffic constraints, and spatial characteristics of the disposal area, resulting in a high degree of subjectivity. In areas with complex terrain and limited space, existing planning methods struggle to quantitatively assess transportation feasibility and route accessibility, easily leading to frequent route changes and structural discontinuities. This not only affects the stable passage of heavy vehicles but also increases the difficulty of coordinating subsequent ecological governance. Summary of the Invention

[0004] The purpose of this invention is to provide at least one method, apparatus, equipment, and storage medium for planning open-pit mine spoil transport routes. This invention addresses the technical problem that existing planning methods struggle to quantitatively assess transport feasibility and route accessibility in areas with complex terrain and limited space, often leading to frequent route changes and structural discontinuities. This not only affects the stable passage of heavy vehicles but also increases the difficulty of coordinating subsequent ecological restoration. The invention achieves optimal route planning for open-pit mine spoil transport in conjunction with the restoration of surrounding gullies. By constructing a spoil transport space resistance coefficient surface and optimizing the route structure, it achieves a coordinated match between spoil route selection and gully restoration space. Furthermore, it enables the rapid planning of constructible, highly connected optimal spoil routes adapted to complex terrain conditions.

[0005] To address the aforementioned technical problems, at least one embodiment of this application provides a method for planning the transport path of open-pit mine spoil, comprising: A gully management evaluation model is established based on the pre-acquired geological parameter information of the mining area and surrounding gully units, and gully management areas that meet the preset conditions are determined based on the gully management evaluation model. A surface for the spatial resistance coefficient of spoil transport is constructed based on the digital elevation model of the gully treatment area and the mining area. Based on the spatial resistance coefficient surface of the spoil transport and the preset total path cost function, a spoil transport path is generated to transport mining strippings to the gully treatment area for ecological filling treatment according to the spoil transport path.

[0006] At least one embodiment of this application also provides an open-pit mine spoil transport path planning device, comprising: The determination module is used to establish a gully management evaluation model based on the pre-acquired geological parameter information of the mining area and surrounding gully units, and to determine the gully management areas that meet the preset conditions for management priority based on the gully management evaluation model. The construction module is used to construct the space resistance coefficient surface for spoil transport based on the digital elevation model of the gully treatment area and the mining area; The generation module is used to generate a spoil transport path based on the spoil transport space resistance coefficient surface and a preset path total cost function, so as to transport the mining stripping material to the gully treatment area for ecological filling treatment according to the spoil transport path.

[0007] At least one embodiment of this application also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described open-pit mine spoil transport path planning method.

[0008] At least one embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described open-pit mine spoil transport path planning method.

[0009] The embodiments of this application provide a method, apparatus, equipment, and storage medium for planning open-pit mine spoil removal paths. Based on geological parameter information of the mining area and surrounding gully units, a gully management evaluation model is established. Based on this model, gully management areas meeting preset priority conditions are determined. Then, a spoil removal transport space resistance coefficient surface is constructed based on the digital elevation model of the gully management area and the mining area. Finally, a spoil removal path is generated based on this surface and a preset total path cost function. According to the spoil removal path, mining strippings are transported to the gully management area for ecological filling. This achieves optimal path planning for open-pit mine spoil removal for surrounding gully management. By constructing a spoil removal transport space resistance coefficient surface and optimizing the path structure, a coordinated match between spoil removal path selection and gully management space is achieved. Furthermore, it enables rapid planning of constructible, highly connected optimal spoil removal paths adapted to complex terrain conditions.

[0010] In some optional embodiments, the step of establishing a gully management evaluation model based on pre-acquired geological parameter information of the mining area and surrounding gully units, and determining gully management areas that meet preset conditions for management priority based on the gully management evaluation model, includes: Based on the digital elevation model of the mining area, trenches are extracted, and closed trench units are extracted. For each of the aforementioned gully units, multi-dimensional evaluation indicators corresponding to the gully unit are extracted based on the geological parameter information; The gully management evaluation model is constructed based on the multi-dimensional evaluation indicators, and the gully units are classified according to the evaluation results of each gully unit output by the gully management evaluation model, so as to obtain the gully management areas whose management priority meets the preset conditions.

[0011] In this way, by extracting closed gully units, a large mining area is broken down into individual gully units, avoiding the omission of hidden landslides or debris flows. Furthermore, by combining geological parameter information, the limitations of traditional judgments based solely on elevation or slope are avoided, allowing for a more comprehensive reflection of the suitability of gully units for treatment, and making the evaluation results more consistent with the complex geological conditions of the mining area.

[0012] In some optional embodiments, the mining stripping area in the mining area serves as the source point of the spoil transport path, and the gully treatment area serves as the target point of the spoil transport path. The construction of the waste dumping transport space resistance coefficient surface based on the digital elevation model of the gully treatment area and the mining area includes: Based on the digital elevation model of the mining area, multiple resistance factors are extracted, including slope, topographic relief, surface roughness, topographic humidity index, and land use type. Each of the resistance factors is resampled and normalized, and then dimensionality reduced and fused to generate the soil dumping transport resistance coefficient surface between the source point and the target point.

[0013] In this way, it not only focuses on the slope, but also integrates the undulation, roughness, topographic humidity index, and land use type, and merges them into a unique resistance value through dimensional reduction. This gives the resistance coefficient surface of the dump transportation space a dimension of land features, automatically avoiding high-cost ecologically sensitive areas or soft and subsidence areas, and ensuring that heavy vehicles significantly reduce the non-downtime accident rate caused by getting stuck or skidding during the rainy season or under extreme conditions. Moreover, it can calculate the globally optimal path between the source point and the target point with the lowest fuel consumption, the least tire wear, and the shortest overall transportation time, rather than the locally optimal path with only the "gentlest slope" as in the existing systems.

[0014] In some optional embodiments, generating the waste dumping path based on the waste dumping space resistance coefficient surface and a preset total path cost function includes: Based on the aforementioned waste dumping and transportation space resistance coefficient surface, the initial cumulative resistance path from the source point to the target point is extracted using the minimum cumulative resistance algorithm. The total cost function of the path is introduced to quantitatively evaluate and locally reconstruct the initial cumulative resistance path, thereby generating the soil dumping and transport path.

[0015] Thus, by extracting the initial cumulative resistance path with the shortest distance from the source point to the target point based on the minimum cumulative resistance algorithm, and introducing a total cost function to couple the evaluation of travel distance and resistance coefficient, a dynamic optimal balance between distance and resistance is achieved. Furthermore, during local reconstruction, fine-tuning of the offset is performed based on the resistance abrupt changes on both sides of the initial cumulative resistance path to ensure that the resulting soil removal and transportation path still has all-weather traffic capability even after rain when the soil is slippery or in soft topsoil.

[0016] In some optional embodiments, the step of extracting the initial cumulative resistance path from the source point to the target point using the minimum cumulative resistance algorithm based on the soil dumping transport space resistance coefficient surface includes: Based on the aforementioned soil dumping and transportation space resistance coefficient surface, a minimum cumulative resistance algorithm based on gridded path simulation is used to construct the cumulative resistance surface and resistance direction surface of the grid cells from the source point to the target point. Based on the cumulative resistance surface and the resistance direction surface, a reverse backtracking is performed to generate a basic path sequence between the source point and the target point, so as to use the basic path sequence as the initial cumulative resistance path.

[0017] In this way, starting from the source point, all grids in the entire mining area are traversed, and each grid is assigned a cumulative resistance surface and a resistance direction surface from the source point. This allows the vehicle to simply jump back along the direction surface when traversing backwards. Furthermore, the resulting initial cumulative resistance path is theoretically the path with the lowest overall energy consumption in the entire field. This allows heavy vehicles to naturally follow the path with the smoothest transition according to the resistance changes, automatically avoiding dangerous terrain and preventing them from getting stuck in dead ends (dead-end roads) due to obstacles or being forced to detour (turnaround sections) when they find that the resistance ahead is too great. This is especially suitable for crossing complex ravine terrain.

[0018] In some optional embodiments, the step of introducing the total path cost function to quantitatively evaluate and locally reconstruct the initial cumulative resistance path to generate the soil dumping path includes: The total cost function of the path is set to quantitatively evaluate the initial cumulative resistance path. Furthermore, for local segments in the initial cumulative resistance path where the turning angle is greater than a preset angle, representative path location nodes of the local segments are extracted to form a control point set. The control point set is then locally reconstructed using a spline curve fitting method to generate the soil removal and transportation path.

[0019] In this way, by partially reconstructing the sharp corners of the initial cumulative resistance path and replacing them with smooth arcs, the vehicle's direction changes gradually as it passes through, ensuring that the radius of each turn meets the safety turning standards for mining trucks, greatly reducing the risk of safety accidents; it also avoids the vehicle's sideslip and abrasion, and can significantly extend the tire replacement cycle and chassis component life.

[0020] In some optional embodiments, transporting mining overburden to the gully remediation area for ecological filling according to the spoil transport path includes: According to the aforementioned spoil transport path, the mining strippings are transported to the gully treatment area, and the mining strippings are filled layer by layer according to the preset ecological filling structure; wherein, the ecological filling structure includes, from top to bottom, the weathered coal seam, the water-retaining sandstone layer, the slow-permeable clay layer, and the gully strata.

[0021] In this way, filling the layers according to the ecological filling structure not only helps with water storage near the ground and ecological water supply for vegetation, but also reduces soil erosion. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0023] Figure 1 This is a flowchart illustrating a method for planning the transport path of open-pit mine spoil, as provided in one embodiment of this application. Figure 2 This is a schematic diagram of the structure of an open-pit mine spoil transport path planning device provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application; Figure 4 This is a flowchart illustrating a method for planning the transport path of open-pit mine spoil according to another embodiment of this application; Figure 5 This is a schematic diagram of the results of the resistance coefficient surface of the dumping and transportation space provided in one embodiment of this application; Figure 6 This is a schematic diagram of the optimal spoil removal and transportation path planning algorithm provided in another embodiment of this application; Figure 7 This is a schematic diagram showing the result of the optimal soil dumping and transportation path provided by another embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this application to help readers better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0025] To facilitate understanding of the embodiments of this application, the relevant content regarding the open-pit mine spoil transport path planning method will be introduced first.

[0026] During the stripping process in open-pit mining, a large amount of waste rock (rock and soil) is generated and needs to be transported to a spoil heap for centralized disposal via designated routes. However, due to restrictions imposed by temporary land use policies or land acquisition, open-pit mines generally face challenges such as insufficient internal disposal space, exceeding design elevations for spoil disposal, and difficulties in expanding production capacity. The numerous natural gullies surrounding open-pit mines in the Loess Gully region possess excellent spoil carrying capacity and ecological restoration potential. Against this backdrop, how to rationally plan spoil disposal routes under complex terrain and multiple constraints to improve spoil disposal efficiency and reduce engineering disturbance has become a key technical challenge in the coordinated management of mining area space utilization and ecological restoration.

[0027] However, existing waste disposal route planning mainly relies on manual experience or proximity principles for route selection, lacking a systematic analysis of terrain conditions, traffic constraints, and spatial characteristics of the disposal area, resulting in a high degree of subjectivity. In areas with complex terrain and limited space, existing planning methods struggle to quantitatively assess transport feasibility and route accessibility, easily leading to frequent route turns and structural discontinuities. This not only affects the stable passage of heavy vehicles but also increases the difficulty of coordinating subsequent ecological governance. Currently, there is a lack of an objective modeling method based on terrain data and spatial information that can scientifically construct transport resistance surfaces under multiple constraints and extract the optimal waste disposal route that combines engineering feasibility with adaptability to the disposal area.

[0028] To address the technical challenges of existing planning methods in areas with complex terrain and limited space, which struggle to quantify and assess transportation feasibility and route accessibility, leading to frequent route changes and structural discontinuities—affecting the stable passage of heavy vehicles and increasing the difficulty of coordinating subsequent ecological restoration—this invention proposes a method for planning open-pit mine spoil transport routes. The following details the implementation of this method. Please note that these details are provided for ease of understanding and are not essential for implementing this solution.

[0029] Example 1: The open-pit mine spoil transport path planning method of this embodiment can be applied to electronic devices with communication, computing, and data storage capabilities. Its specific process can be as follows: Figure 1 As shown, it includes: Step 101: Establish a gully management evaluation model based on the pre-acquired geological parameter information of the mining area and surrounding gully units, and determine the gully management areas that meet the preset conditions based on the gully management evaluation model.

[0030] Specifically, the mining area is an open-pit mine, which contains mining stripping areas, i.e., open-pit mining stripping areas. These are the actual mining and stripping areas, generating mining stripping materials, such as large amounts of waste rock (rock and soil), which need to be disposed of and transferred. In the waste disposal and transfer path for mining stripping materials, the mining stripping area is used as the source point (starting point) of the waste disposal path, and the surrounding natural gully units with ecological restoration potential are used as the target points (i.e., transfer points). Geological parameter information of the mining area and surrounding gully units is collected.

[0031] There is at least one gully unit surrounding the mining area. Therefore, after collecting geological parameter information of the mining area and surrounding gully units, it is necessary to determine the optimal gully unit for transferring mining strippings. In this embodiment, a gully management evaluation model is established based on the geological parameter information of the mining area and surrounding gully units. Based on the gully management evaluation model, gully units whose management priority meets preset conditions are determined, and these gully units are designated as gully management areas. In some examples, the preset conditions can be set according to the number of gully units to be selected. When one gully unit is needed as a gully management area, the number of target points is also one, and the preset condition can be set to the highest management priority.

[0032] In some cases, taking into account factors such as transportation radius, equipment accessibility, width of natural gully distribution zones, and ecological restoration space redundancy, the boundary of the mining area is extended outward by 1000 m as the surrounding area definition. Natural gully units within this range are considered as the set of target points for dumping paths (soil transport paths). Within the study area (mining area), ecological and geological parameters of the mining area and its surroundings are collected, specifically including: topographic parameters: elevation, slope, aspect, gully length and depth-to-width ratio; geological parameters: lithological classification, geological stability zoning; soil properties: soil type, texture, thickness, and compactability; hydrological information: topographic humidity index, surface runoff paths; ecological factors: vegetation cover, land use type; and engineering impact factors: shortest distance to residential areas, straight-line distance to mining and stripping areas.

[0033] Step 102: Construct the surface of the space resistance coefficient for spoil transport based on the digital elevation model of the gully treatment area and the mining area.

[0034] Specifically, a digital elevation model (DEM) of a mining area can digitally simulate the surface topography of the mining area and surrounding gully units. By combining the DEM with the gully management area, a surface representing the resistance coefficient of the spoil transport space between the source and target points can be constructed. In some cases, the DEM of the mining area can be constructed using DEM data acquired by drones.

[0035] Step 103: Based on the spatial resistance coefficient surface of the waste dumping transportation and the preset total path cost function, generate the waste dumping transportation path, so as to transport the mining stripping material to the gully treatment area for ecological filling treatment according to the waste dumping transportation path.

[0036] Specifically, the value of the waste dumping transport space resistance coefficient surface ranges from 0 to 1. A larger value indicates greater resistance to waste dumping transport at the corresponding location along the transport path. In this embodiment, considering the feasibility of actual construction, transport stability, and geometric rationality of the path, a pre-defined total path cost function is introduced based on the waste dumping transport space resistance coefficient surface to generate the waste dumping transport path. After obtaining the waste dumping transport path, the mining stripping material is transported to the gully management area for ecological filling treatment. This ecological filling treatment not only avoids adverse ecological impacts on the gully unit but also generates beneficial effects such as near-surface water storage, vegetation ecological water supply, and reduced soil erosion due to its rationality and scientific approach.

[0037] In this embodiment, a gully management evaluation model is established based on geological parameter information of the mining area and surrounding gully units. Based on this model, gully management areas meeting preset priority conditions are identified. Then, a waste dumping transport space resistance coefficient surface is constructed based on the digital elevation model of the gully management area and the mining area. Finally, a waste dumping transport path is generated based on this surface and a pre-defined total path cost function. Finally, mining strippings are transported to the gully management area for ecological filling according to the waste dumping transport path. This achieves optimal path planning for open-pit mine waste dumping in response to surrounding gully management. By constructing the waste dumping transport space resistance coefficient surface and optimizing the path structure, a coordinated match between waste dumping path selection and gully management space is achieved. Furthermore, it enables rapid planning of constructible, highly connected optimal waste dumping paths adapted to complex terrain conditions.

[0038] In some embodiments, a gully management evaluation model is established based on pre-acquired geological parameter information of the mining area and surrounding gully units, and gully management areas meeting preset management priority conditions are determined based on the gully management evaluation model, including: Based on the digital elevation model of the mining area, trenches are extracted, and closed trench units are extracted. For each gully unit, multi-dimensional evaluation indicators corresponding to the gully unit are extracted based on geological parameter information; A gully management evaluation model is constructed based on multi-dimensional evaluation indicators. The gully units are then classified according to the evaluation results of each gully unit output by the gully management evaluation model, and the gully management areas that meet the preset conditions for management priority are obtained.

[0039] Specifically, based on the digital elevation model of the mining area, a double concentric rectangular window traversal algorithm is used to calculate the average elevation within each window. When the average elevation of the inner small window is lower than the average elevation of the outer large window, the central grid is defined as a gully region, and closed gully units (which can be understood as closed spatial units) are extracted from it. Each independent gully unit generated in this way serves as the evaluation object of the subsequent gully management evaluation model.

[0040] In this embodiment, after extracting closed gully units, multi-dimensional evaluation indicators are extracted for each gully unit based on the geological parameter information of the mining area and surrounding gully units. Specifically, an evaluation system is constructed using geological parameter information, comprising four primary factors: landform, geology and soil, hydrology and ecology, and socio-economic factors. Specific indicators include: average gully slope, gully depth-to-width ratio, rock and soil type, rock and soil structural stability, surface runoff index, vegetation cover, distance to nearby residential areas, and distance between mining and stripping zones.

[0041] In this embodiment, a fuzzy comprehensive scoring function for gully units is constructed using multi-dimensional evaluation indicators within a multi-factor evaluation system, i.e., a gully management evaluation model. Then, each gully unit is evaluated using this model to obtain corresponding evaluation results, which are then used to classify the gully units. After classification, gully units whose management priority meets preset conditions are designated as gully management areas, i.e., target points for the soil removal and transportation path.

[0042] In some examples, the calculation results for each gully unit are obtained through a fuzzy comprehensive scoring function. Based on these results, a suitability score for remediation (i.e., the evaluation result) is assigned, and the gully units are divided into three levels: Level I (score ≥ 0.75): priority remediation area (i.e., gully remediation area); Level II (0.5 ≤ score < 0.75): manageable area; and Level III (score < 0.5): unsuitable for remediation. For example, a total of 7 gully units were extracted, including 2 Level I units (29%), 3 Level II units (42%), and 2 Level III units (29%). In some examples, to improve remediation efficiency and path planning accuracy, Level I and Level II units are retained for the next stage of soil dumping path analysis, while other units are discarded.

[0043] In this way, by extracting closed gully units, a large mining area is broken down into individual gully units, avoiding the omission of hidden landslides or debris flows. Furthermore, by combining geological parameter information, the limitations of traditional judgments based solely on elevation or slope are avoided, allowing for a more comprehensive reflection of the suitability of gully units for treatment, and making the evaluation results more consistent with the complex geological conditions of the mining area.

[0044] In some embodiments, the mining stripping area in the mining area serves as the source point of the spoil transport path, and the gully treatment area serves as the target point of the spoil transport path. Based on the digital elevation model of the gully management area and the mining area, a surface for the spatial resistance coefficient of spoil transport is constructed, including: Based on the digital elevation model of the mining area, multiple resistance factors are extracted, including slope, topographic relief, surface roughness, topographic humidity index, and land use type. Each resistance factor is resampled and normalized, and then dimensionality reduced and fused to generate a surface of soil dumping transport resistance coefficients between the source point and the target point.

[0045] Specifically, based on the digital elevation model of the mining area, resistance factors such as slope, topographic relief, surface roughness, topographic humidity index, and land use type are extracted. After evaluating each gully unit to obtain corresponding evaluation results, the gully treatment area (i.e., the target point) is selected, and a surface of the soil dumping and transportation space resistance coefficient between the source point and the target point is established.

[0046] Specifically, all resistance factors were uniformly resampled to a spatial resolution of 10m, and the min-maximum method was used to normalize each factor to the interval [0, 1]. Principal component analysis (PCA) was used to perform dimensionality reduction and fusion on the normalized resistance factors to generate a continuous spatial grid-like surface of soil dumping and transportation spatial resistance coefficients, with values ​​ranging from 0 to 1. The larger the value, the greater the resistance to soil dumping and transportation at that location.

[0047] In this way, it not only focuses on the slope, but also integrates the undulation, roughness, topographic humidity index, and land use type, and merges them into a unique resistance value through dimensional reduction. This gives the resistance coefficient surface of the dump transportation space a dimension of land features, automatically avoiding high-cost ecologically sensitive areas or soft and subsidence areas, and ensuring that heavy vehicles significantly reduce the non-downtime accident rate caused by getting stuck or skidding during the rainy season or under extreme conditions. Moreover, it can calculate the globally optimal path between the source point and the target point with the lowest fuel consumption, the least tire wear, and the shortest overall transportation time, rather than the locally optimal path with only the "gentlest slope" as in the existing systems.

[0048] In some embodiments, a spoil transport path is generated based on the spoil transport space resistance coefficient surface and a preset total path cost function, including: Based on the spatial resistance coefficient surface of waste dump transportation, the minimum cumulative resistance algorithm is used to extract the initial cumulative resistance path from the source point to the target point. By introducing a total path cost function, the initial cumulative resistance path is quantitatively evaluated and locally reconstructed to generate a soil removal path.

[0049] Specifically, based on the spatial resistance coefficient surface of waste dump transportation, a gridded path simulation is employed, and the initial cumulative resistance path from the source point to the target point is extracted using the minimum cumulative resistance algorithm. It's important to understand that a purely grid-based minimum cumulative resistance (MCR) algorithm often produces paths that are jagged or have right-angle turns; such "mathematically shortest" paths are practically impossible for heavy vehicles to turn in reality. Therefore, this embodiment also introduces a total path cost function to quantitatively evaluate and locally reconstruct the structure of the initial cumulative resistance path, ultimately generating an optimal waste dump transportation path that is engineering-feasible. Through local fitting and reconstruction, a smooth curve that meets the minimum turning radius and lateral stability coefficient of heavy vehicles is obtained.

[0050] Thus, by extracting the initial cumulative resistance path with the shortest distance from the source point to the target point based on the minimum cumulative resistance algorithm, and introducing a total cost function to couple the evaluation of travel distance and resistance coefficient, a dynamic optimal balance between distance and resistance is achieved. Furthermore, during local reconstruction, fine-tuning of the offset is performed based on the resistance abrupt changes on both sides of the initial cumulative resistance path to ensure that the resulting soil removal and transportation path still has all-weather traffic capability even after rain when the soil is slippery or in soft topsoil.

[0051] In some embodiments, based on the spatial resistance coefficient surface of waste dump transportation, the minimum cumulative resistance algorithm is used to extract the initial cumulative resistance path from the source point to the target point, including: Based on the spatial resistance coefficient surface of waste dumping transportation, the cumulative resistance surface and resistance direction surface of the grid cell from the source point to the target point are constructed using the minimum cumulative resistance algorithm based on gridded path simulation. By backtracking back based on the cumulative resistance surface and the resistance direction surface, a basic path sequence between the source point and the target point is generated, and the basic path sequence is used as the initial cumulative resistance path.

[0052] Specifically, based on the surface of the soil dumping transport space resistance coefficient The cumulative resistance surface of the global grid cells from the source point to the target point is constructed using a grid-based minimum cumulative resistance algorithm. Resisting direction plane It is obtained through the following relationship:

[0053] In the formula, The cumulative resistance of the current grid. This represents the cumulative resistance value of adjacent grid cells. This is the drag coefficient value. The Euclidean distance between adjacent grid cells. This is the set of eight neighbors of the current grid.

[0054] Next, the reverse backtracking path direction matrix of each grid cell is output synchronously, i.e., the resistance direction surface. Based on the cumulative resistance surface and the resistance direction surface, a basic path sequence between the source point and the target point is generated by backtracking. This serves as the minimum initial cumulative resistance path. The initial cumulative resistance path is composed of grid center points, and the output is a vector line graph.

[0055] In this way, starting from the source point, all grids in the entire mining area are traversed, and each grid is assigned a cumulative resistance surface and a resistance direction surface from the source point. This allows the vehicle to simply jump back along the direction surface when traversing backwards. Furthermore, the resulting initial cumulative resistance path is theoretically the path with the lowest overall energy consumption in the entire field. This allows heavy vehicles to naturally follow the path with the smoothest transition according to the resistance changes, automatically avoiding dangerous terrain and preventing them from getting stuck in dead ends (dead-end roads) due to obstacles or being forced to detour (turnaround sections) when they find that the resistance ahead is too great. This is especially suitable for crossing complex ravine terrain.

[0056] In some embodiments, a total path cost function is introduced to quantitatively evaluate and locally reconstruct the initial cumulative resistance path, generating a soil removal and transportation path, including: A total path cost function is set to quantitatively evaluate the initial cumulative resistance path. Furthermore, for local segments in the initial cumulative resistance path where the turning angle is greater than a preset angle, representative path nodes of the local segments are extracted to form a control point set. The control point set is then locally reconstructed using a spline curve fitting method to generate the soil removal and transportation path.

[0057] Specifically, considering the actual construction feasibility, transportation stability, and geometric rationality of the route, a total route cost function is set to quantitatively evaluate and locally reconstruct the initial cumulative resistance route. The total route cost function is defined as follows:

[0058] in, Let be the drag coefficient of the i-th grid cell on the path. This is the distance of the path segment. The turning angle of the path. This is the steering penalty coefficient.

[0059] For local segments in the initial cumulative resistance path with turning angles greater than 90°, representative nodes of these segments are extracted to form a control point set. A cubic B-spline curve fitting method is used to locally reconstruct the control point set. The fitting function expression is as follows:

[0060] In the formula, Let be a cubic B-spline basis function, defined according to the De Boor recursive formula, where t∈[0, 1]; The path for soil removal and transportation; This is the set of control points.

[0061] After fitting, the fitting result is a smooth and continuous curve segment, which is the soil removal and transportation path, used to replace the original initial cumulative resistance path.

[0062] In some cases, to ensure that the optimized path (soil removal path) does not compromise the overall rationality of the original path (initial cumulative resistance path), path tolerance constraints are set, requiring the total length and total cost of the optimized path to meet the following conditions:

[0063] In the formula, L and Z(P) are the original path length and total cost, respectively; , To control the threshold, it is set to 0.05 in this embodiment, that is, the error tolerance is controlled within 5%. This refers to the total length of the soil removal path; This represents the total cost of the soil removal and transportation path. This ensures that the optimized soil removal and transportation path does not deviate significantly from the original path's total length and total resistance cost, guaranteeing the engineering feasibility of the optimized result.

[0064] In this embodiment, after quantitatively evaluating and locally reconstructing the initial cumulative resistance path, the final output is the optimized soil removal and transportation path, expressed in the form of vector lines, and superimposed with the topographic map to verify its engineering adaptability.

[0065] In this way, by partially reconstructing the sharp corners of the initial cumulative resistance path and replacing them with smooth arcs, the vehicle's direction changes gradually as it passes through, ensuring that the radius of each turn meets the safety turning standards for mining trucks, greatly reducing the risk of safety accidents; it also avoids the vehicle's sideslip and abrasion, and can significantly extend the tire replacement cycle and chassis component life.

[0066] In some embodiments, transporting mining overburden to gully remediation areas for ecological filling treatment according to the spoil transport path includes: According to the spoil transport route, the mining strippings are transported to the gully treatment area, and the mining strippings are filled layer by layer according to the pre-set ecological filling structure; the ecological filling structure includes, from top to bottom, the weathered coal seam topsoil, the water-retaining sandstone layer, the slow-permeable clay layer and the gully strata.

[0067] Specifically, based on the planned optimal path—the spoil removal route—mining overburden is transported to the target gully unit—gully management area. The overburden is then used to fill the gully strata sequentially from top to bottom, following the sequence: weathered coal seam topsoil—water-retaining sandstone layer—slow-permeable clay layer—gully strata, constructing a structure with surface vegetation, a middle layer of water storage, and a bottom layer of slow-permeability. In some cases, weathered coal, coal gangue, siltstone, fine-grained sandstone, medium-grained sandstone, coarse-grained sandstone, sandy clay, and red clay are selected from the mining overburden. The slow-permeable clay layer uses clay materials such as sandy clay and red clay to effectively prevent water infiltration and act as a barrier against water leakage. The water-retaining sandstone layer mainly uses siltstone, fine-grained sandstone, and coarse-grained sandstone. Thus, by filling the gully layer by layer according to the order of particle size from largest to smallest and from top to bottom, following the ecological filling structure, it not only helps with near-surface water storage and vegetation ecological water supply but also reduces soil erosion.

[0068] Example 2: like Figure 4 As shown, this embodiment provides an exemplary content of Embodiment 1, namely, an exemplary process for planning the path of open-pit mine spoil transport, and an optimal path planning method for open-pit mine spoil transport oriented towards the management of surrounding gullies. By constructing a multi-factor spatial resistance surface, extracting the path with the minimum cumulative resistance, and optimizing the path structure, the spoil transport path selection and the gully management space are coordinated and matched. This invention can realize the rapid planning of constructible and highly connected optimal spoil transport paths that are adapted to complex terrain conditions.

[0069] The specific content includes: S1. Using the open-pit mining stripping area as the source point of the spoil transport route and the surrounding natural gully units with ecological restoration potential as the target points, collect ecological geological parameter information of the mining area and surrounding gullies.

[0070] In the specific implementation, the Jinzhengtai open-pit coal mine is taken as the research object. According to its mining and spoil disposal scheme design specification, the actual mining and stripping area during the research period is taken as the source point of the spoil transportation path.

[0071] To clearly define the target gully area for waste disposal, a buffer zone for remediation analysis is delineated outside the mining area boundary. This embodiment comprehensively considers transportation radius, equipment access capacity, the width of natural gully distribution zones, and the redundancy of ecological restoration space. The surrounding area is defined as extending 1000m outward from the mining area boundary, and the natural gully units within this range are considered as the set of target points for the waste disposal path.

[0072] Within the study area, ecological and geological parameters of the mining area and its surroundings were collected, including: topographic parameters: elevation, slope, aspect, gully length and depth-to-width ratio; geological parameters: lithological classification and geological stability zoning; soil properties: soil type, texture, thickness and compactability; hydrological information: topographic humidity index and surface runoff paths; ecological factors: vegetation cover and land use type; and engineering impact factors: shortest distance to residential areas and straight-line distance to mining and stripping areas.

[0073] S2. Based on the collected gully parameter information, establish a multi-factor gully management suitability evaluation model (gully management evaluation model), classify gully units, and determine priority management areas (gully management areas whose management priority meets the preset conditions). The construction steps of the multi-factor gully management suitability evaluation model are as follows: Based on the DEM data (0.07m×0.07m) acquired by UAVs in the mining area, the average elevation of each window is calculated using a double concentric rectangular window traversal algorithm. When the average elevation of the inner small window is lower than the average elevation of the outer large window, the central grid is defined as a gully region, and closed gully units are extracted. Each generated independent unit is used as a subsequent evaluation object.

[0074] For each gully unit, evaluation factor values ​​are extracted based on the ecological and geological parameter information collected in step S1. This invention constructs an evaluation system comprising four primary factors: geomorphology, geology and soil, hydrology and ecology, and socio-economic factors. Specific indicators include a multi-factor evaluation system encompassing gully average slope, gully depth-to-width ratio, rock and soil type, rock and soil structural stability, surface runoff index, vegetation cover, distance to adjacent residential areas, and distance to mining / stripping areas.

[0075] Based on the above indicators, a fuzzy comprehensive scoring function for the gully management area is constructed. The suitability score for management is determined according to the calculation results, and the gully units are divided into three levels: Level I (score ≥ 0.75): priority management area; Level II (0.5 ≤ score < 0.75): manageable area; and Level III (score < 0.5): unsuitable management area. In this embodiment, a total of 7 gully units were extracted, including 2 Level I units (29%), 3 Level II units (42%), and 2 Level III units (29%). To improve management efficiency and path planning accuracy, Level I and Level II units are retained for the next step of soil dumping path analysis, while other units are discarded.

[0076] S3. Construct a surface for the spatial resistance coefficient of spoil transport by combining slope, topographic relief (TR), surface roughness (SR), topographic moisture index (TWI), and land use type (LULC). The steps for constructing the surface for the spatial resistance coefficient of spoil transport are as follows: Based on the gully management suitability evaluation results in step S2, the gully unit with the highest evaluation score is selected as the first target point, and the soil dumping transport space resistance coefficient surface between the source point and the target point is established. Based on the mining area DEM, remote sensing imagery, and engineering design parameters, slope, topographic relief, surface roughness, topographic humidity index, and land use type resistance factors were extracted. All factors were uniformly resampled to a 10m spatial resolution, and the minimum-maximum method was used to normalize each factor to the [0,1] interval. Principal component analysis (PCA) was used to perform dimensionality reduction and fusion of the normalized resistance factors, generating the following: Figure 5 The continuous spatial grid form of the soil dumping and transportation comprehensive resistance coefficient surface R(x,y) shown has a value range between 0 and 1. The larger the value, the greater the resistance to soil dumping and transportation at that location.

[0077] S4, such as Figure 6 As shown, this invention employs gridded path simulation, extracts the initial cumulative resistance path from the source point to the target point based on the minimum cumulative resistance algorithm, introduces a total path cost function, evaluates and locally reconstructs the initial path structure, and finally generates an optimal soil removal path with engineering feasibility. The specific steps are as follows: The drag coefficient surface constructed based on step S3 A grid-based minimum cumulative propagation algorithm is used to construct the cumulative resistance surface from the source point to the global grid cell. Resisting direction plane The relationship is as follows:

[0078] In the formula, The cumulative resistance of the current grid. This represents the cumulative resistance value of adjacent grid cells. This is the drag coefficient value. The Euclidean distance between adjacent grid cells. This is the set of eight neighbors of the current grid.

[0079] Next, the reverse backtracking path direction matrix of each grid cell is output synchronously, i.e., the resistance direction surface. .in accordance with and Backtracking to generate the basic path sequence between the source point and the target point. As the initial path with minimum cumulative resistance, the path is composed of grid center points, and the output is a vector line graph, such as... Figure 7 As shown.

[0080] Considering the feasibility of actual route construction, transportation stability, and geometric rationality, this invention introduces a route structure optimization module. By setting a total cost function, the basic route is quantitatively evaluated and locally reconstructed. The total cost function is defined as follows:

[0081] in, Let be the drag coefficient of the i-th grid cell on the path. This is the distance of the path segment. The turning angle of the path. This is the steering penalty coefficient.

[0082] For local segments in the path with turning angles greater than 90°, extract representative location nodes of that segment to form a control point set. The curve was reconstructed using a cubic B-spline curve fitting method, and the fitting function expression is as follows:

[0083] In the formula, Let be a cubic B-spline basis function, defined according to the De Boor recursive formula, where t∈[0, 1]; The path for soil removal and transportation; This is the set of control points.

[0084] The fitting result is a smooth, continuous curve segment, which is used to replace the original path.

[0085] To ensure that the optimized path does not compromise the overall rationality of the original path, a path tolerance constraint is set, requiring the total length of the optimized path to be... With total cost The following conditions must be met:

[0086] In the formula, L and Z(P) are the original path length and total cost, respectively; , To control the threshold, it is set to 0.05 in this embodiment, that is, the error tolerance is controlled within 5%. This refers to the total length of the soil removal path; The total cost of the soil removal and transportation path. The total length and total resistance cost of the optimized path are considered to ensure that the optimized result does not deviate significantly from the original path, thus guaranteeing the engineering feasibility of the optimized result.

[0087] The final output is the optimized waste disposal path, expressed as a vector line, and overlaid with a topographic map for engineering compatibility verification. Figure 7 As shown.

[0088] S5. According to the planned optimal route, after transporting the open-pit mine waste strippings to the target gully unit, fill it from top to bottom in the following order: weathered coal seam topsoil, water-retaining sandstone layer, slow-permeable clay layer, and gully strata.

[0089] Based on the stratigraphic survey of the Jinzhengtai open-pit coal mine and data from boreholes 74 and 430, eight main materials were selected from the stripped material: weathered coal, coal gangue, siltstone, fine-grained sandstone, medium-grained sandstone, coarse-grained sandstone, sandy clay, and red clay. Therefore, the seepage-retardant layer uses clay materials such as sandy clay and red clay to effectively prevent water infiltration and act as a barrier against water leakage. The aquifer mainly consists of siltstone, fine-grained sandstone, and coarse-grained sandstone, filled layer by layer in descending order of particle size and from top to bottom. This not only helps with near-surface water storage and ecological water supply for vegetation but also reduces soil erosion.

[0090] In this embodiment, the generated planned path has the following advantages compared with the initial path: with the total path length increasing by only 3.2%, the total cost function Z(P) (comprehensive resistance cost) is reduced by 5.1%. Specific technical improvements include: (1) Significantly improved path smoothness: the number of sharp turns (>90°) is reduced from 8 to 2, a reduction of 75%; the maximum turning angle is optimized from 160° to 92°, a reduction of 42.5%; the typical dangerous turning angle (originally 160°) is optimized to 73°, which meets the safety turning standard for mining trucks (≤90°). (2) Enhanced engineering applicability: the average slope of the path is reduced from 12.3° to 9.8°, a reduction of 20.3%; the proportion of high-risk road sections (slope >15°) is reduced from 18.7% to 6.5%; the path continuity index is increased by 37.2%, reducing dead-end roads and turnaround sections.

[0091] In this embodiment, a transport resistance surface can be scientifically constructed under multiple constraints, and the optimal dumping path that combines engineering feasibility and adaptability to the dumping area can be extracted.

[0092] Example 3: Another embodiment of this application relates to an open-pit mine spoil transport path planning device. The implementation details of this embodiment's open-pit mine spoil transport path planning device are described below. The following details are provided for ease of understanding and are not essential for implementing this solution. A schematic diagram of this embodiment's open-pit mine spoil transport path planning device can be seen as follows: Figure 2 As shown, it includes: The determination module 201 is used to establish a gully management evaluation model based on the pre-acquired geological parameter information of the mining area and surrounding gully units, and to determine the gully management areas that meet the preset conditions for management priority based on the gully management evaluation model. Module 202 is used to construct the surface of the space resistance coefficient for spoil transport based on the digital elevation model of the gully treatment area and the mining area; The generation module 203 is used to generate a spoil transport path based on the spoil transport space resistance coefficient surface and a preset path total cost function, so as to transport mining strippings to the gully treatment area for ecological filling treatment according to the spoil transport path.

[0093] In some embodiments, the determining module 201 includes: The trench extraction unit is used to extract trenches based on the digital elevation model of the mining area, and to extract closed trench units. The index extraction unit is used to extract multi-dimensional evaluation indicators corresponding to each gully unit based on geological parameter information. The hierarchical unit is used to construct a gully management evaluation model based on multi-dimensional evaluation indicators, and to classify the gully units according to the evaluation results of each gully unit output by the gully management evaluation model, so as to obtain the gully management areas whose management priority meets the preset conditions.

[0094] In some embodiments, the mining stripping area in the mining area serves as the source point of the spoil transport path, and the gully treatment area serves as the target point of the spoil transport path. Module 202 includes: The factor extraction unit is used to extract multiple resistance factors based on the digital elevation model of the mining area. These resistance factors include slope, topographic relief, surface roughness, topographic humidity index, and land use type. The coefficient surface generation unit is used to resample and normalize each resistance factor, and perform dimensionality reduction and fusion to generate the soil dumping and transportation resistance coefficient surface between the source point and the target point.

[0095] In some embodiments, the generation module 203 includes: The initial path extraction unit is used to extract the initial cumulative resistance path from the source point to the target point based on the spatial resistance coefficient surface of the waste dumping transportation and using the minimum cumulative resistance algorithm. The path generation unit is used to introduce the total path cost function, quantitatively evaluate and locally reconstruct the initial cumulative resistance path, and generate the soil removal and transportation path.

[0096] In some embodiments, the initial path extraction unit is further configured to: construct the cumulative resistance surface and resistance direction surface of the grid cells from the source point to the target point based on the spatial resistance coefficient surface of the dumping transport space, using the minimum cumulative resistance algorithm based on gridded path simulation; and perform reverse backtracking based on the cumulative resistance surface and resistance direction surface to generate a basic path sequence between the source point and the target point, so as to use the basic path sequence as the initial cumulative resistance path.

[0097] In some embodiments, the path generation unit is further configured to: set a total path cost function to quantitatively evaluate the initial cumulative resistance path, and for local segments in the initial cumulative resistance path where the turning angle is greater than a preset angle, extract representative path location nodes of the local segments to form a control point set, and use a spline curve fitting method to locally reconstruct the control point set to generate a soil removal and transportation path.

[0098] In some embodiments, the generation module 203 further includes: The filling treatment unit is used to transport mining strippings to the gully treatment area according to the soil dumping and transportation path, and fill the mining strippings layer by layer according to the preset ecological filling structure; wherein, the ecological filling structure includes, from top to bottom, the weathered coal seam of topsoil, the water-retaining sandstone layer, the slow-permeable clay layer and the gully strata.

[0099] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed in this application; however, this does not mean that other units are absent in this embodiment.

[0100] Example 4: Another embodiment of this application relates to an electronic device, such as... Figure 3 As shown, it includes: at least one processor 301; and a memory 302 communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions executable by the at least one processor 301, the instructions being executed by the at least one processor 301 to enable the at least one processor 301 to execute the open-pit mine spoil transport path planning method in the above embodiments.

[0101] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0102] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0103] Example 5: Another embodiment of this application relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the method embodiments described above.

[0104] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.

Claims

1. A method for planning the path of open-pit mine spoil transport, characterized in that, include: A gully management evaluation model is established based on the pre-acquired geological parameter information of the mining area and surrounding gully units, and gully management areas that meet the preset conditions are determined based on the gully management evaluation model. A surface for the spatial resistance coefficient of spoil transport is constructed based on the digital elevation model of the gully treatment area and the mining area. Based on the spatial resistance coefficient surface of the spoil transport and the preset total path cost function, a spoil transport path is generated to transport mining strippings to the gully treatment area for ecological filling treatment according to the spoil transport path.

2. The method for planning the transport path of open-pit mine spoil as described in claim 1, characterized in that, The process involves establishing a gully management evaluation model based on pre-acquired geological parameter information of the mining area and surrounding gully units, and determining gully management areas that meet preset management priority conditions based on the gully management evaluation model, including: Based on the digital elevation model of the mining area, trenches are extracted, and closed trench units are extracted. For each of the aforementioned gully units, multi-dimensional evaluation indicators corresponding to the gully unit are extracted based on the geological parameter information; The gully management evaluation model is constructed based on the multi-dimensional evaluation indicators, and the gully units are classified according to the evaluation results of each gully unit output by the gully management evaluation model, so as to obtain the gully management areas whose management priority meets the preset conditions.

3. The method for planning the transport path of open-pit mine spoil as described in claim 2, characterized in that, The mining stripping area in the mining area serves as the source point of the spoil transport path, and the gully treatment area serves as the target point of the spoil transport path. The construction of the waste dumping transport space resistance coefficient surface based on the digital elevation model of the gully treatment area and the mining area includes: Based on the digital elevation model of the mining area, multiple resistance factors are extracted, including slope, topographic relief, surface roughness, topographic humidity index, and land use type. Each of the resistance factors is resampled and normalized, and then dimensionality reduced and fused to generate the soil dumping transport resistance coefficient surface between the source point and the target point.

4. The method for planning the transport path of open-pit mine spoil as described in claim 3, characterized in that, The process of generating a waste dumping path based on the waste dumping space resistance coefficient surface and a pre-defined total path cost function includes: Based on the aforementioned waste dumping and transportation space resistance coefficient surface, the initial cumulative resistance path from the source point to the target point is extracted using the minimum cumulative resistance algorithm. The total cost function of the path is introduced to quantitatively evaluate and locally reconstruct the initial cumulative resistance path, thereby generating the soil dumping and transport path.

5. The method for planning the transport path of open-pit mine spoil as described in claim 4, characterized in that, The method of extracting the initial cumulative resistance path from the source point to the target point using the minimum cumulative resistance algorithm based on the soil dumping and transportation space resistance coefficient surface includes: Based on the aforementioned soil dumping and transportation space resistance coefficient surface, a minimum cumulative resistance algorithm based on gridded path simulation is used to construct the cumulative resistance surface and resistance direction surface of the grid cells from the source point to the target point. Based on the cumulative resistance surface and the resistance direction surface, a reverse backtracking is performed to generate a basic path sequence between the source point and the target point, so as to use the basic path sequence as the initial cumulative resistance path.

6. The method for planning the transport path of open-pit mine spoil as described in claim 4, characterized in that, The process of introducing the total cost function of the path to quantitatively evaluate and locally reconstruct the initial cumulative resistance path, thereby generating the soil dumping and transport path, includes: The total cost function of the path is set to quantitatively evaluate the initial cumulative resistance path. Furthermore, for local segments in the initial cumulative resistance path where the turning angle is greater than a preset angle, representative path location nodes of the local segments are extracted to form a control point set. The control point set is then locally reconstructed using a spline curve fitting method to generate the soil removal and transportation path.

7. The method for planning the transport path of open-pit mine spoil as described in any one of claims 1-6, characterized in that, The process of transporting mining strippings to the gully remediation area for ecological filling according to the aforementioned spoil transport path includes: According to the aforementioned spoil transport path, the mining strippings are transported to the gully treatment area, and the mining strippings are filled layer by layer according to the preset ecological filling structure; wherein, the ecological filling structure includes, from top to bottom, the weathered coal seam, the water-retaining sandstone layer, the slow-permeable clay layer, and the gully strata.

8. A device for planning the path of open-pit mine spoil transport, characterized in that, include: The determination module is used to establish a gully management evaluation model based on the pre-acquired geological parameter information of the mining area and surrounding gully units, and to determine the gully management areas that meet the preset conditions for management priority based on the gully management evaluation model. The construction module is used to construct the space resistance coefficient surface for spoil transport based on the digital elevation model of the gully treatment area and the mining area; The generation module is used to generate a spoil transport path based on the spoil transport space resistance coefficient surface and a preset path total cost function, so as to transport the mining stripping material to the gully treatment area for ecological filling treatment according to the spoil transport path.

9. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the open-pit mine spoil transport path planning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the open-pit mine spoil transport path planning method as described in any one of claims 1 to 7.

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