CN112785706B - Method, system, equipment and medium for dynamically analyzing reserves of multi-type ore storage yard - Google Patents
Method, system, equipment and medium for dynamically analyzing reserves of multi-type ore storage yard Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a medium for dynamically analyzing reserves of a multi-type ore yard, wherein the method comprises the following steps: acquiring multi-type ore yard images of an open mine acquired by unmanned aerial vehicle aerial photography; analyzing various types of ore yard images through an aerial triangular analysis method, converting the images into various types of three-dimensional dense point cloud data of the ore yards, and processing the three-dimensional dense point cloud data to obtain various types of three-dimensional models of the ore yards; extracting elevation point information of the ore yard based on three-dimensional models of various ore yards; and (3) extracting elevation point information of the multi-type ore yards in different periods by loop iteration, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing change conditions of the multi-type ore yard reserve data in different periods. The invention lays a foundation for scientifically optimizing the ore mining design of the stope, further establishes a scientific plan of stope ore allocation and ore supply, and is favorable for reasonably establishing stope ore supply allocation indexes.
Description
Technical Field
The invention relates to a method, a system, equipment and a medium for dynamically analyzing reserves of a multi-type ore yard, belonging to the field of open-pit mining.
Background
The surface mine ore yards exist to ensure that the stope supply of ore meets the mill selection consumption and is partially spare. Meanwhile, considering the change of the ore grade of a stope, the comprehensive utilization of high-grade and low-grade ores is very important for ore supply of a selecting mill, the balanced ore blending index is ensured, the high-grade ores are not excessively consumed, and the ore grade is required to be prevented from being up to standard. Therefore, a plurality of adjacent complex ore yards are arranged near the ore yards of the surface mines, and the comprehensive utilization of the complex ore yards is the important point for ensuring the normal and efficient operation of the ore yards.
The earlier stage of the ore yard is high in stacking height, the area is simply measured manually, time consumption is long, labor intensity is high, meanwhile, the yard slope is provided with a plurality of points which are difficult to measure, data integrity is poor, manual measurement accuracy is difficult to guarantee, and therefore a more effective measurement means is needed.
Based on the existing measurement technical means, the low-altitude unmanned aerial vehicle aerial survey technology is non-contact mapping, has the advantages of high precision, short time consumption, low manual labor intensity, simplicity, convenience, good result visualization effect and the like, can rapidly acquire all terrain information of two-stage or multi-stage ore yards through setting aerial flight and data post-processing treatment, ensures the integrity of data, and provides a safe and efficient solution for acquiring reserve data of multi-type adjacent ore yards.
The storage yard reserve is an important aspect of surface mine ore exploitation and ore feeding planning and is also a foundation. The meaning of researching the reserves of the storage yard is that the mining scheme is scientifically planned, the ore proportioning plans of different ore grades are formulated, and the relation between mining and consumption is analyzed, so that the fine management of the ore storage yard is realized.
Disclosure of Invention
In view of the above, the invention provides a method, a system, a device and a medium for dynamically analyzing reserves of a multi-type ore yard, which dynamically analyzes the reserves of different periods by acquiring basic data of the reserves of the ore yard, analyzes the dynamic change relation between ore blending and ore feeding of the stope, can better feed back the conditions of ore mining and consumption of the stope, lays a foundation for scientifically optimizing the ore mining design of the stope, further establishes a scientific plan of ore blending and ore feeding of the stope, acquires the reserves of the ore yard with different grades, and is beneficial to reasonably establishing indexes of ore blending and ore feeding of the stope.
A first object of the present invention is to provide a method for dynamic analysis of reserves in a multi-type ore yard.
A second object of the present invention is to provide a multi-type ore yard reserves dynamic analysis system.
A third object of the present invention is to provide a computer device.
A fourth object of the present invention is to provide a storage medium.
The first object of the present invention can be achieved by adopting the following technical scheme:
a method of dynamically analyzing reserves of a multi-type ore yard, the method comprising:
acquiring multi-type ore yard images of an open mine acquired by unmanned aerial vehicle aerial photography;
analyzing various types of ore yard images through an aerial triangular analysis method, and converting the various types of ore yard images into three-dimensional dense point cloud data of the various types of ore yards;
processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards;
extracting elevation point information of the ore yard based on three-dimensional models of various ore yards;
and (3) extracting elevation point information of the multi-type ore yards in different periods by loop iteration, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing change conditions of the multi-type ore yard reserve data in different periods.
Further, the method further comprises:
according to the change conditions of the reserve data of the multi-type ore yards in different periods, the actual mining and distributing execution conditions are combined, the difference between the plan and the implementation is found out, and the feeding and distributing instruction is updated and issued;
continuously optimizing the proportion of on-site mining to ore blending in an ore yard, and checking and correcting the execution condition of the optimized ore blending supply instruction.
Further, the method analyzes various types of ore yard images by an aerial triangle analysis method, converts the various types of ore yard images into various types of three-dimensional dense point cloud data of the ore yard, and specifically comprises the following steps:
performing image automatic matching analysis on various types of ore yard images, judging the integrity of the ore yard images, and ensuring that the requirements of calculation by an aerial triangular analysis method are met;
leading in coordinates of image control points and check points to perform first puncturing points, so as to ensure that each image control point and check point punctures at least three continuous images of the ore yard;
performing first aerial trigonometric analysis calculation on the ore yard image after the first puncture point to obtain a first calculation image;
and carrying out second puncture on the first resolved image, and carrying out second aerial trigonometric analysis calculation on the first resolved image after the second puncture to obtain a second resolved image which is used as three-dimensional dense point cloud data of various ore yards.
Further, the processing the three-dimensional dense point cloud data of the various types of ore yards to obtain three-dimensional models of the various types of ore yards specifically comprises:
judging whether three-dimensional dense point cloud data of various types of ore yards meet the requirements of model reconstruction;
if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map forming precision of a preset proportion;
if the three-dimensional dense point cloud data meets the map accuracy requirement of the map with the preset proportion, determining model cutting, coordinate system selection and result type, and carrying out model reconstruction to generate three-dimensional models of various ore yards.
Further, the method performs error accuracy comprehensive analysis through three-dimensional model accuracy errors, image control points and check point errors, and judges whether the error accuracy meets the map accuracy requirement of the map with preset proportion, specifically includes:
judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model;
if the three-dimensional dense point cloud data meets the aerial survey requirement, taking the coordinates of the image control points and the check points obtained by aerial survey as coordinate measurement values, and comparing the coordinate measurement values with the coordinate true values for analysis;
and judging whether the error precision meets the map precision requirement of the map with a preset proportion according to the comparison analysis result.
Further, the method for extracting elevation point information of the ore yard based on the three-dimensional models of the ore yard of various types specifically comprises the following steps:
the actual boundary line coordinates of various types of ore yards are imported into various types of ore yard three-dimensional models, and the delineation of a specific area is realized;
acquiring all elevation point information of a specific area;
extracting all elevation point information of a specific ore yard from all elevation point information of a specific area according to actual requirements;
and processing all elevation point information of the specific ore yard to obtain the elevation point information of the ore yard which accords with the field reality.
Further, the analysis of the change condition of the reserve data of the multi-type ore yards in different periods is specifically as follows:
and comparing the change conditions of the reserve data of the multi-type ore yards in different periods with actual weighing statistics, and analyzing the reasons and the problems of the change of the reserve data.
The second object of the invention can be achieved by adopting the following technical scheme:
a multi-type ore yard reserves dynamic analysis system, the system comprising:
the acquisition unit is used for acquiring multi-type ore yard images of the surface mine acquired by unmanned aerial vehicle aerial photography;
the analysis unit is used for analyzing various types of ore yard images through an aerial triangular analysis method and converting the various types of ore yard images into various types of three-dimensional dense point cloud data of the ore yard;
the processing unit is used for processing the three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards;
an extraction unit for extracting elevation point information of the ore yard based on three-dimensional models of various types of ore yards;
the analysis unit is used for circularly and iteratively extracting elevation point information of the multi-type ore yards in different periods, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing the change condition of the multi-type ore yard reserve data in different periods.
The third object of the present invention can be achieved by adopting the following technical scheme:
the computer equipment comprises a processor and a memory for storing a program executable by the processor, wherein the processor realizes the dynamic analysis method of the reserves of the multi-type ore yard when executing the program stored by the memory.
The fourth object of the present invention can be achieved by adopting the following technical scheme:
a storage medium storing a program which, when executed by a processor, implements the multi-type ore yard reserves dynamic analysis method described above.
Compared with the prior art, the invention has the following beneficial effects:
1. the method has the characteristics of timely, efficient and dynamic adjustment, acquires multi-type ore yard images of the surface mine through unmanned aerial vehicle aerial photography, analyzes various types of ore yard images by using an aerial triangular analysis method to obtain three-dimensional dense point cloud data of various types of ore yards, processes the three-dimensional dense point cloud data to obtain various types of ore yard three-dimensional models, and performs reserve dynamic analysis based on the various types of ore yard three-dimensional models to obtain various types of ore yard reserve data; the method comprises the steps of circularly and iteratively obtaining multi-type ore yard reserves data in different periods, dynamically analyzing reserves changes in different periods, analyzing dynamic change relation between stope ore allocation and ore supply, and better feeding back conditions of ore exploitation and consumption of the stope, laying a foundation for scientifically optimizing stope ore exploitation design, further making a scientific stope ore allocation and ore supply plan, obtaining ore yard reserves in different grades, and being beneficial to reasonably making stope ore allocation indexes.
2. According to the invention, the difference of planning and implementation is found out according to the change condition of reserve data of the multi-type ore storage yard in different periods and the actual mining and distribution execution condition, the ore feeding and distribution instruction is updated and issued, the proportion of on-site mining and ore storage yard ore distribution is continuously optimized, the optimized ore feeding and distribution instruction execution condition is checked and corrected, the timely updating and analysis of the ore feeding and distribution quantity is realized, the actual execution condition of the ore feeding and distribution instruction is analyzed, the timely checking and optimization is realized, the reasonable design of ore feeding and distribution of the surface mine storage yard and ore feeding planning of the multi-type ore storage yard is ensured, and the fine management of ore feeding and distribution work is finally realized.
3. The unmanned aerial vehicle can be a multi-rotor unmanned aerial vehicle, and the characteristics of high precision, wide coverage range and safe and convenient operation of the multi-rotor unmanned aerial vehicle are utilized to rapidly, safely and efficiently collect the high-precision three-dimensional model information of the area where the multi-type ore storage yard is located, and the high-precision, high-efficiency and low-cost ore storage yard reserve mapping operation is implemented, so that the timely updating of ore storage yard ore distribution production data in different periods is possible.
4. According to the invention, aerial triangle analysis calculation is carried out on multi-type ore yard images of the surface mine acquired by unmanned aerial vehicle aerial photography, aerial photographic images with geographical information are converted into three-dimensional dense point cloud data of the ore yard, three-dimensional terrain information of the ore yard is truly restored, the image analysis processing is efficient, the data integrity is good, the reality and reliability are realized, and the three-dimensional visualization effect is good.
5. The invention rapidly generates the elevation point information of the area by delineating the actual boundary line of the ore yard. Combining the elevation point information change conditions of the multi-period ore storage yard, and further obtaining reserve change conditions of different periods.
6. According to the invention, by obtaining the three-dimensional model information of the ore yard, the actual topographic map and other mapping results and dynamically analyzing the ore feeding and distributing data in different periods, the organic unification of the open stope ore mining planning and the yard ore feeding is realized, and the ore feeding and distributing index planning is continuously optimized and regulated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a simplified flow chart of a method for dynamically analyzing reserves in a multi-type ore yard according to embodiment 1 of the present invention.
Fig. 2 is a detailed flow chart of a method for dynamically analyzing reserves in a multi-type ore yard according to embodiment 1 of the present invention.
Fig. 3 is a block diagram showing the construction of a multi-type store yard reserve dynamic analysis system according to embodiment 2 of the present invention.
Fig. 4 is a block diagram showing the structure of a computer device according to embodiment 3 of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Example 1:
as shown in fig. 1 and 2, the present embodiment provides a method for dynamically analyzing reserves of a multi-type ore yard, the method comprising the steps of:
s101, acquiring multi-type ore yard images of the surface mine acquired by unmanned aerial vehicle aerial photography.
The unmanned aerial vehicle of this embodiment adopts small-size many rotor unmanned aerial vehicle, and small-size many rotor unmanned aerial vehicle can be four rotors, six rotors, eight rotors carry on many rotor unmanned aerial vehicle of five camera lenses, also can be can realize other types unmanned aerial vehicle that five camera lenses aerial photograph, and small-size many rotor unmanned aerial vehicle aerial photograph includes that on-the-spot is surveyed and manual aerial photograph, image control point and checkpoints select and confirm, unmanned aerial vehicle field survey planning and implement these four processes of field survey, and specific explanation is as follows:
(1) On-site stepping and manual aerial photography: the range of the aerial photographing area of the ore yard is checked and determined manually, the highest height in the range of the area is estimated by utilizing the manual photographing function of the small multi-rotor unmanned aerial vehicle, and the safety and reliability of the later aerial surveying operation are ensured.
(2) Selecting and confirming image control points and check points: and (3) making a point placing plan of an image control point and a check point according to the range of the measuring area and the fluctuation condition of the terrain, and carrying out on-site point placing by adopting a handheld RTK (real time kinematic), so as to record the point and facilitate the later-stage stab point identification.
(3) Unmanned aerial vehicle field aerial survey planning: according to the range of the area, selecting a five-way flight mode, wherein the overlapping rate is high, the overlapping rate is ensured to be more than 75%, the camera parameters are adjusted according to weather conditions, and the shutter is selected to be in priority; and then generating a aerial survey plan, and needing to check again to ensure that the aerial survey plan is reasonable and feasible.
(4) And (3) performing field aerial survey: and calling a designated aerial survey plan, implementing the aerial survey plan according to the flight instruction, and if one frame cannot be completed, calling an in-flight plan after replacing a battery, and continuing to implement aerial survey according to the flight instruction until the operation task is completed completely, so as to acquire all the topographic and topographic information of the area to be measured.
According to the embodiment, the aerial photographing and collecting of the small multi-rotor unmanned aerial vehicle in the steps (1) - (4) can be carried out, and the multi-type ore yard images of the surface mine can be obtained.
S102, analyzing various types of ore yard images through an aerial triangle analysis method, and converting the various types of ore yard images into three-dimensional dense point cloud data of the various types of ore yards;
specifically, the step S102 is an image matching and blank three-calculation process, which is implemented by professional navigation measurement processing software (such as ContextCapture, intelligent map in Xinjiang, etc.), and includes: the method comprises the steps of importing various types of ore yard images into professional aerial survey processing software, firstly, carrying out automatic image matching analysis, judging the integrity of the ore yard images, and ensuring that the requirements of calculation by an aerial triangular analysis method are met; then leading in control point coordinates (image control points and check points) to perform first puncturing, so as to ensure that each image control point and check point punctures at least three continuous ore yard images; then, carrying out a first aerial trigonometric analysis calculation on the ore yard image after the first puncture point to obtain a first calculation image; and carrying out second puncture on the first resolved image, and carrying out second aerial trigonometric analysis calculation on the first resolved image after the second puncture to obtain a second resolved image which is used as three-dimensional dense point cloud data of various ore yards.
S103, processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards.
Specifically, the step S103 is an error analysis and model reconstruction process, including: judging whether the three-dimensional dense point cloud data of the various types of ore yards meet the requirements of model reconstruction or not by checking the three-dimensional dense point cloud data of the various types of ore yards; if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map precision of a topographic map with a preset proportion (1:500); if not, returning to the step (2) in the step S101, and executing the subsequent steps until the map forming precision requirement of the preset proportion is met; if the model is met, determining model dicing (divided into a plurality of block segments), selecting a coordinate system, and obtaining the type of the result, and carrying out model reconstruction on the basis to generate various types of ore storage yard three-dimensional models, including DOM, DSM, DEM and the like.
Further, by means of three-dimensional model precision errors, image control points and check point errors, error precision comprehensive analysis is carried out, and whether the error precision meets the map precision requirement of a map with preset proportion is judged, specifically comprising the following steps:
A. judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model;
B. and if the three-dimensional dense point cloud data meets the aerial survey requirement, taking the coordinates of the image control point and the check point obtained by aerial survey as coordinate measurement values, and comparing and analyzing the coordinate measurement values with the coordinate true values obtained by the handheld RTK.
C. And judging whether the error precision meets the map precision requirement of the map with a preset proportion according to the comparison analysis result.
S104, extracting elevation point information of the ore yard based on three-dimensional models of various ore yards.
Specifically, the step S104 is extraction and processing of three-dimensional model data of the ore yard, and by importing the three-dimensional model data of the ore yard into integrated professional processing software (such as southern Idata software), the three-dimensional model is seamlessly converted into a two-dimensional graph by means of a powerful three-dimensional and two-dimensional compatible function of the software, which comprises the following steps: measuring actual boundary lines of various types of ore yards by manually holding RTKs, and importing actual boundary line coordinates of the various types of ore yards into various types of ore yard three-dimensional models to realize delineation of a specific area; acquiring all elevation point information of a specific area; extracting all elevation point information of a specific ore yard from all elevation point information of a specific area according to actual requirements; processing all elevation point information of a specific ore yard to obtain elevation point information which accords with the actual site, and comparing and analyzing the actual elevation point value of the site manually measured elevation point with the elevation point mapping value generated by the model to further confirm whether the map accuracy requirement of the map with the preset ratio (1:500) is met.
S105, extracting elevation point information of the multi-type ore yards in different periods through cyclic iteration, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing change conditions of the multi-type ore yard reserve data in different periods.
Specifically, the step S105 is a dynamic acquisition and analysis of multi-stage ore yard reserves, including: repeating steps S101-S105, extracting elevation point information of the ore storage yards in different periods according to the operation requirement of the integrated professional processing software, generating a reserve change chart by utilizing the elevation point information, dynamically acquiring multi-type ore storage yard reserve data (ore distribution execution data) in different periods, for example, acquiring multi-type ore storage yard reserve data in two periods or acquiring multi-type ore storage yard reserve data in three periods or more; and analyzing the change conditions of the reserve data of the multi-type ore yards in different periods, such as the change conditions of the reserve data of the ore yard A, the ore yard B and the ore yard C.
Further, analyzing the change condition of the reserve data of the multi-type ore yard in different periods, specifically: and comparing the change conditions of the reserve data of the multi-type ore yards in different periods with actual weighing statistics, and analyzing the reasons and the problems of the change of the reserve data.
The method for dynamically analyzing reserves of a multi-type ore yard of the present embodiment may further include:
s106, finding out the difference between the plan and the implementation according to the change condition of the reserve data of the multi-type ore storage yard in different periods and combining the actual mining and distributing execution condition, updating and issuing a feeding and distributing instruction.
S107, continuously optimizing the ratio of site mining to ore blending in an ore yard, checking and correcting the execution condition of the optimized ore feeding and blending instruction, ensuring that the ore mining and blending grade meets the factory selection requirement, realizing the comprehensive utilization of high grade and low grade in a multi-type yard, and scientifically implementing ore mining and blending planning.
It should be noted that although the method operations of the above embodiments are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in that particular order or that all illustrated operations be performed in order to achieve desirable results. Rather, the depicted steps may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
Example 2:
as shown in fig. 3, the present embodiment provides a multi-type ore yard reserves dynamic analysis system, which includes an acquisition unit 301, an analysis unit 302, a processing unit 303, an extraction unit 304, and an analysis unit 305, and specific functions of the respective units are as follows:
an acquiring unit 301 is configured to acquire multiple types of ore yard images of the surface mine acquired by aerial photography of the unmanned aerial vehicle.
The analyzing unit 302 is configured to analyze various types of images of the ore yard by using an aerial triangle analysis method, and convert the various types of images of the ore yard into three-dimensional dense point cloud data of the ore yard.
And the processing unit 303 is used for processing the three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards.
An extraction unit 304 for extracting elevation point information of the ore yard based on various types of three-dimensional models of the ore yard.
And the analysis unit 305 is used for circularly and iteratively extracting elevation point information of the multi-type ore yards in different periods, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing the change condition of the multi-type ore yard reserve data in different periods.
Specific implementation of each unit in this embodiment may be referred to embodiment 1, and will not be described in detail herein; it should be noted that, in the system provided in this embodiment, only the division of the above functional units is used as an example, in practical application, the above functional allocation may be performed by different functional units according to needs, that is, the internal structure is divided into different functional modules, so as to perform all or part of the functions described above.
Example 3:
the present embodiment provides a computer device, which may be a computer, as shown in fig. 4, and is connected through a system bus 401 to a processor 402, a memory, an input device 403, a display 404 and a network interface 405, where the processor is configured to provide computing and control capabilities, the memory includes a nonvolatile storage medium 406 and an internal memory 407, where the nonvolatile storage medium 406 stores an operating system, a computer program and a database, and the internal memory 407 provides an environment for the operating system and the computer program in the nonvolatile storage medium, and when the processor 402 executes the computer program stored in the memory, the method for dynamically analyzing the storage capacity of the multi-type ore yard of the above embodiment 1 is implemented as follows:
acquiring multi-type ore yard images of an open mine acquired by unmanned aerial vehicle aerial photography;
analyzing various types of ore yard images through an aerial triangular analysis method, and converting the various types of ore yard images into three-dimensional dense point cloud data of the various types of ore yards;
processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards;
extracting elevation point information of the ore yard based on three-dimensional models of various ore yards;
and (3) extracting elevation point information of the multi-type ore yards in different periods by loop iteration, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing change conditions of the multi-type ore yard reserve data in different periods.
Further, the method may further comprise:
according to the change conditions of the reserve data of the multi-type ore yards in different periods, the actual mining and distributing execution conditions are combined, the difference between the plan and the implementation is found out, and the feeding and distributing instruction is updated and issued;
continuously optimizing the proportion of on-site mining to ore blending in an ore yard, and checking and correcting the execution condition of the optimized ore blending supply instruction.
Example 4:
the present embodiment provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the multi-type ore yard reserve dynamic analysis method of embodiment 1 described above, as follows:
acquiring multi-type ore yard images of an open mine acquired by unmanned aerial vehicle aerial photography;
analyzing various types of ore yard images through an aerial triangular analysis method, and converting the various types of ore yard images into three-dimensional dense point cloud data of the various types of ore yards;
processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards;
extracting elevation point information of the ore yard based on three-dimensional models of various ore yards;
and (3) extracting elevation point information of the multi-type ore yards in different periods by loop iteration, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing change conditions of the multi-type ore yard reserve data in different periods.
Further, the method may further comprise:
according to the change conditions of the reserve data of the multi-type ore yards in different periods, the actual mining and distributing execution conditions are combined, the difference between the plan and the implementation is found out, and the feeding and distributing instruction is updated and issued;
continuously optimizing the proportion of on-site mining to ore blending in an ore yard, and checking and correcting the execution condition of the optimized ore blending supply instruction.
The computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In summary, the method has the characteristics of timely, efficient and dynamic adjustment, acquires multiple types of ore yard images of the surface mine through unmanned aerial vehicle aerial photography, analyzes the various types of ore yard images by using an aerial triangle analysis method to obtain three-dimensional dense point cloud data of the various types of ore yards, processes the three-dimensional dense point cloud data to obtain three-dimensional models of the various types of ore yards, and dynamically analyzes reserves based on the three-dimensional models of the various types of ore yards to obtain reserves data of the various types of ore yards; the method comprises the steps of circularly and iteratively obtaining multi-type ore yard reserves data in different periods, dynamically analyzing reserves changes in different periods, analyzing dynamic change relation between stope ore allocation and ore supply, and better feeding back conditions of ore exploitation and consumption of the stope, laying a foundation for scientifically optimizing stope ore exploitation design, further making a scientific stope ore allocation and ore supply plan, obtaining ore yard reserves in different grades, and being beneficial to reasonably making stope ore allocation indexes.
The above-mentioned embodiments are only preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can make equivalent substitutions or modifications according to the technical solution and the inventive concept of the present invention within the scope of the present invention disclosed in the present invention patent, and all those skilled in the art belong to the protection scope of the present invention.
Claims (7)
1. A method for dynamically analyzing reserves of a multi-type ore yard, the method comprising:
acquiring multi-type ore yard images of an open mine acquired by unmanned aerial vehicle aerial photography;
analyzing various types of ore yard images through an aerial triangular analysis method, and converting the various types of ore yard images into three-dimensional dense point cloud data of the various types of ore yards;
processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards;
extracting elevation point information of the ore yard based on three-dimensional models of various ore yards;
extracting elevation point information of multi-type ore yards in different periods by loop iteration, carrying out reserve dynamic analysis to obtain multi-type ore yard reserve data in different periods, and analyzing change conditions of the multi-type ore yard reserve data in different periods;
processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards, wherein the three-dimensional models specifically comprise: judging whether three-dimensional dense point cloud data of various types of ore yards meet the requirements of model reconstruction; if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map forming precision of a preset proportion; if the error precision meets the map precision requirement of the map with preset proportion, determining model cutting, coordinate system selection and result type, and carrying out model reconstruction to generate three-dimensional models of various types of ore yards;
the method comprises the steps of comprehensively analyzing the precision of the error through the precision error of the three-dimensional model, the image control point and the checking point error, judging whether the precision of the error meets the precision requirement of a map formed by a preset proportion, and specifically comprises the following steps: judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model; if the three-dimensional dense point cloud data meets the aerial survey requirement, taking the coordinates of the image control points and the check points obtained by aerial survey as coordinate measurement values, and comparing the coordinate measurement values with the coordinate true values for analysis; judging whether the error precision meets the map precision requirement of a map with a preset proportion according to the comparison analysis result;
the method for extracting elevation point information of the ore yard based on the three-dimensional models of the ore yards of various types specifically comprises the following steps: measuring actual boundary lines of various types of ore yards, and guiding actual boundary line coordinates of the various types of ore yards into various types of ore yard three-dimensional models to realize delineation of a specific area; acquiring all elevation point information of a specific area; extracting all elevation point information of a specific ore yard from all elevation point information of a specific area according to actual requirements; processing all elevation point information of the specific ore yard to obtain the elevation point information of the ore yard which accords with the actual site, and comparing and analyzing the actual elevation point value of the site manual measurement with the elevation point mapping value generated by the model to further confirm whether the map accuracy requirement of the pre-set proportion is met.
2. The method of claim 1, further comprising:
according to the change conditions of the reserve data of the multi-type ore yards in different periods, the actual mining and distributing execution conditions are combined, the difference between the plan and the implementation is found out, and the feeding and distributing instruction is updated and issued;
continuously optimizing the proportion of on-site mining to ore blending in an ore yard, and checking and correcting the execution condition of the optimized ore blending supply instruction.
3. The method for dynamically analyzing reserves of a multi-type ore yard according to any one of claims 1 to 2, wherein the analyzing the images of the various types of ore yards by the aerial triangle analysis method converts the images of the various types of ore yards into three-dimensional dense point cloud data of the various types of ore yards, specifically comprising:
performing image automatic matching analysis on various types of ore yard images, judging the integrity of the ore yard images, and ensuring that the requirements of calculation by an aerial triangular analysis method are met;
leading in coordinates of image control points and check points to perform first puncturing points, so as to ensure that each image control point and check point punctures at least three continuous images of the ore yard;
performing first aerial trigonometric analysis calculation on the ore yard image after the first puncture point to obtain a first calculation image;
and carrying out second puncture on the first resolved image, and carrying out second aerial trigonometric analysis calculation on the first resolved image after the second puncture to obtain a second resolved image which is used as three-dimensional dense point cloud data of various ore yards.
4. The method for dynamically analyzing the reserves of the multi-type ore yard according to any one of claims 1 to 2, wherein the analyzing the change condition of the data of the reserves of the multi-type ore yard in different periods is specifically as follows:
and comparing the change conditions of the reserve data of the multi-type ore yards in different periods with actual weighing statistics, and analyzing the reasons and the problems of the change of the reserve data.
5. A multi-type ore yard reserves dynamic analysis system, the system comprising:
the acquisition unit is used for acquiring multi-type ore yard images of the surface mine acquired by unmanned aerial vehicle aerial photography;
the analysis unit is used for analyzing various types of ore yard images through an aerial triangular analysis method and converting the various types of ore yard images into various types of three-dimensional dense point cloud data of the ore yard;
the processing unit is used for processing the three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards;
an extraction unit for extracting elevation point information of the ore yard based on three-dimensional models of various types of ore yards;
the analysis unit is used for circularly and iteratively extracting elevation point information of the multi-type ore yards in different periods, carrying out reserve dynamic analysis to obtain reserve data of the multi-type ore yards in different periods, and analyzing the change condition of the reserve data of the multi-type ore yards in different periods;
processing three-dimensional dense point cloud data of various types of ore yards to obtain three-dimensional models of the various types of ore yards, wherein the three-dimensional models specifically comprise: judging whether three-dimensional dense point cloud data of various types of ore yards meet the requirements of model reconstruction; if the three-dimensional dense point cloud data meets the requirements of model reconstruction, carrying out error precision comprehensive analysis through three-dimensional model precision errors, image control points and check point errors, and judging whether the error precision meets the requirements of map forming precision of a preset proportion; if the error precision meets the map precision requirement of the map with preset proportion, determining model cutting, coordinate system selection and result type, and carrying out model reconstruction to generate three-dimensional models of various types of ore yards;
the method comprises the steps of comprehensively analyzing the precision of the error through the precision error of the three-dimensional model, the image control point and the checking point error, judging whether the precision of the error meets the precision requirement of a map formed by a preset proportion, and specifically comprises the following steps: judging whether the three-dimensional dense point cloud data meets the aerial survey requirement according to the precision error of the three-dimensional model; if the three-dimensional dense point cloud data meets the aerial survey requirement, taking the coordinates of the image control points and the check points obtained by aerial survey as coordinate measurement values, and comparing the coordinate measurement values with the coordinate true values for analysis; judging whether the error precision meets the map precision requirement of a map with a preset proportion according to the comparison analysis result;
the method for extracting elevation point information of the ore yard based on the three-dimensional models of the ore yards of various types specifically comprises the following steps: measuring actual boundary lines of various types of ore yards, and guiding actual boundary line coordinates of the various types of ore yards into various types of ore yard three-dimensional models to realize delineation of a specific area; acquiring all elevation point information of a specific area; extracting all elevation point information of a specific ore yard from all elevation point information of a specific area according to actual requirements; processing all elevation point information of the specific ore yard to obtain the elevation point information of the ore yard which accords with the actual site, and comparing and analyzing the actual elevation point value of the site manual measurement with the elevation point mapping value generated by the model to further confirm whether the map accuracy requirement of the pre-set proportion is met.
6. A computer device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored by the memory, implements the method of dynamically analyzing reserves of a multi-type ore yard of any one of claims 1 to 4.
7. A storage medium storing a program which, when executed by a processor, implements the method for dynamically analyzing reserves in a multi-type ore yard of any one of claims 1 to 4.
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| CN108759789A (en) * | 2018-04-23 | 2018-11-06 | 宏大***有限公司 | A kind of surface mine production scheduling command methods based on unmanned plane |
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