CN113833468A - Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method - Google Patents
Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method Download PDFInfo
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- CN113833468A CN113833468A CN202110587836.6A CN202110587836A CN113833468A CN 113833468 A CN113833468 A CN 113833468A CN 202110587836 A CN202110587836 A CN 202110587836A CN 113833468 A CN113833468 A CN 113833468A
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- 238000005422 blasting Methods 0.000 title claims abstract description 37
- 239000002184 metal Substances 0.000 title claims abstract description 12
- 229910052751 metal Inorganic materials 0.000 title claims abstract description 12
- 238000011068 loading method Methods 0.000 title abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000012360 testing method Methods 0.000 claims abstract description 12
- 239000011435 rock Substances 0.000 claims abstract description 9
- 239000002360 explosive Substances 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 9
- 229910052500 inorganic mineral Inorganic materials 0.000 claims description 6
- 239000011707 mineral Substances 0.000 claims description 6
- 239000000843 powder Substances 0.000 claims description 6
- 239000002699 waste material Substances 0.000 claims description 4
- 238000005553 drilling Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000009172 bursting Effects 0.000 claims 1
- 239000012895 dilution Substances 0.000 abstract description 3
- 238000010790 dilution Methods 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000003556 assay Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
The invention relates to a metal strip mine blasting pile grade distribution measuring and calculating system and an accurate shovel loading method. According to the method, pile-blasting three-dimensional coordinate data measured by an unmanned aerial vehicle and blast hole test grades are combined and calculated through pile-blasting data base generation software built in a computer to form a pile-blasting data base, the pile-blasting data base is sent to an electric shovel mobile terminal through a remote terminal, coordinates of bucket teeth of a bucket are calculated through a bucket positioning system, the pile-blasting data base is matched to obtain the grade of each bucket ore, and an electric shovel driver is reminded through the mobile terminal when the bucket crosses a rock boundary. The problem of metal open mine ore loss and serious dilution is solved, the degree of accuracy of shovel loading operation has been promoted.
Description
Technical Field
The invention belongs to the fields of geotechnical engineering, mining engineering and mining machinery, and particularly relates to a metal strip mine blasting pile grade distribution measuring and calculating system and an accurate shoveling and loading method.
Background
Iron ore, a nonrenewable resource, has been depleted in reserves with long term mining. Meanwhile, in the traditional rough mining process of the mine, because the blasting grade distribution can not be accurately measured and calculated, the ore is often taken as barren rock or mixed into the ore in the shovel loading process, and the loss and dilution of the ore are caused. How to accurately measure and calculate the grade distribution of the blasting pile and further improve the precision of the shoveling operation is an urgent problem to be solved by mine enterprises.
Disclosure of Invention
The invention aims to provide a metal strip mine pile-blasting grade distribution measuring and calculating system and an accurate shovel loading method, which have the advantages of complete functions, simple calculation, capability of accurately measuring pile-blasting grade distribution conditions, capability of improving the accuracy degree of shovel loading operation and contribution to controlling waste of iron ore resources.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a metal strip mine blasting pile grade distribution measuring and calculating system which is characterized by comprising the following steps: the system comprises a remote terminal, a pile burst grade acquisition system, a bucket positioning system and a vehicle-mounted mobile terminal;
software capable of generating a pile-bursting article bit database is arranged in the remote terminal;
the pile-blasting grade acquisition system comprises an unmanned aerial vehicle for measuring pile-blasting three-dimensional coordinates and a system for sampling and testing blast holes;
the bucket positioning system comprises two high-precision vehicle-mounted GPS modules I and II which are arranged on a point A and a point B of the bucket rod, and the connecting line of the positions of the point A and the point B is perpendicular to the bucket and intersects with a point C of the bucket tooth;
the vehicle-mounted mobile terminal can receive and display the explosive sample bit database and the real-time position of the bucket sent by the remote terminal.
The invention discloses a precise shoveling method for a metal strip mine, which is characterized by comprising the following steps of:
the method comprises the following steps: when the roller bit drilling machine drills holes, the mineral powder is taken once at the periphery of the drilled hole every drill depth d m, the mineral powder is taken and then tested, and the sample data p of different depths of each blast hole is obtained after the testijAfter blasting, surveying and mapping the blasting area by using the unmanned aerial vehicle, and finding the position (x) of the blast hole according to the position of the blasting funneli，yi，zi) Combining the test results to obtain the initial grade distribution (x)i，yi，zi-(j-1)d，pij) The method comprises the following steps of generating a blasting pile quality bit database with the size specification of 1m multiplied by 1m of a single ore block by using a distance power inverse ratio method through software built in a remote terminal, and sending the database to a vehicle-mounted mobile terminal, wherein the distance power inverse ratio method comprises the following calculation formula:
wherein i is the number of the blast hole, j is the sequence of the sampling points of the blast hole, and pijGrade of j-th sampling of a blast hole numbered i, DijThe distance G from the jth sampling point of the blast hole with the number i to the center of the unit ore blocknThe grade of the nth unit ore block;
step two: measuring the distance a between two points AB and the distance b between two points BC according to the real-time three-dimensional coordinates (x) of a high-precision vehicle-mounted GPS module I arranged at the point A of the bucket arm1，y1，z1) And real-time three-dimensional coordinates (x) of high-precision vehicle-mounted GPS module II at point B2，y2，z2) Calculating real-time three-dimensional coordinates (x) of the C point3，y3，z3) The calculation formula is as follows:
after the coordinates of the point C are obtained, three-dimensional coordinates of two points E, F of bucket teeth at two ends of the bucket can be further calculated, and after the EC distance e and the CF distance f are measured because the E, C, F three points are collinear with each other horizontally and are perpendicular to the AB straight line, instantaneous three-dimensional coordinates (x and x) of the two points E, F can be calculated according to the following formula5，y5，z5)、(x6，y6，z6)：
According to the explosive pile level data base and the real-time positions of the bucket teeth, the ore grade of each bucket can be accurately obtained, and when the coordinates of the buckets are located on the boundary of ore rocks, the mobile terminal can give a warning to a driver, so that waste rocks are prevented from being mixed or the ore is prevented from being lost.
Compared with the prior art, the invention has the advantages that:
1. the method can accurately measure and calculate the grade distribution of the blasting pile and establish a more accurate blasting pile grade data base.
2. According to the invention, the bucket tooth position of the bucket can be accurately obtained by utilizing the high-precision positioning module and the corresponding calculation method, and the bucket tooth coordinate is combined with the pile blasting sample position data base, so that the grade of each bucket ore can be accurately controlled, and the ore rock distinguishing and accurate operation in the shoveling and loading process can be favorably realized.
3. The invention improves the monitoring of the shovel loading operation link, effectively grasps the grade of the mined ore and is beneficial to reducing the loss and dilution of the ore.
Drawings
Fig. 1 is a flow chart of the working principle of the present invention.
FIG. 2 is a layout diagram of a metal strip mine blasting pile grade distribution measuring and calculating system.
FIG. 3 is a schematic diagram of the plane coordinate calculation of the point C of the electric bucket tooth.
FIG. 4 is a schematic diagram of the calculation of the elevation coordinates of the C point of the teeth of the electric bucket.
FIG. 5 is a schematic illustration of the two-point coordinate calculation of the electric bucket tooth E, F.
FIG. 6 is a schematic diagram of the calculation of the explosive pile number data base.
Description of reference numerals:
1-a remote terminal; 2-a pile-blasting grade acquisition system; 21-unmanned aerial vehicle; 22-a grade assay system; 3-bucket positioning system; 31-high precision vehicle GPS module I; 32-high precision vehicle GPS module II; 4-vehicle mobile terminal; 5-electric dipper stick; 6-blasting pile; 7, blast hole; 8-blast hole grade testing points; 9-calculating point of burst grade.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the invention comprises a remote terminal 1, a burst grade acquisition system 2, a bucket positioning system 3 and a vehicle-mounted mobile terminal 4,
software capable of generating a detonation product bit database is arranged in the remote terminal 1;
the explosive pile grade acquisition system 2 comprises an unmanned aerial vehicle 21 for measuring three-dimensional coordinates of an explosive pile and a system 22 for sampling and testing blast holes;
the bucket positioning system 3 comprises two high-precision vehicle-mounted GPS modules I31 and II 32 which are arranged on a point A and a point B of the bucket rod 5;
the explosive pile level data base generation software can generate an explosive pile level data base according to the three-dimensional explosive pile coordinate measured by the unmanned aerial vehicle 21 and the blast hole grade test result.
And the vehicle-mounted mobile terminal 4 is installed in the electric shovel operating room, is electrically connected with the bucket positioning system 3 and is in wireless transmission with a remote terminal.
The invention relates to a method for accurately shoveling and loading a metal strip mine, which comprises the following specific implementation steps of:
the method comprises the following steps: when the roller bit drilling machine drills holes, the mineral powder is taken once at the periphery of the drilled hole every drill depth d m, the mineral powder is taken and then tested, and the sample data p of different depths of each blast hole is obtained after the testijAfter blasting, surveying and mapping the blasting area by using the unmanned aerial vehicle, and finding the position (x) of the blast hole according to the position of the blasting funneli，yi，zi) Combining the test results to obtain the initial grade distribution (x)i，yi，zi-(j-1)d，pij) The distance power inverse ratio method is used by the explosive pile product bit database generation software built in the remote terminal 1
Generating a blasting product bit database with the size specification of 1m multiplied by 1m of a single ore block, and wirelessly transmitting the database to the electric shovel vehicle-mounted mobile terminal 4;
step two: measuring the distance a between two points AB and the distance b between two points BC according to the real-time three-dimensional coordinates (x) of a high-precision vehicle-mounted GPS module I31 arranged at the point A of the arm1，y1，z1) And the real-time three-dimensional coordinates (x) of the high-precision vehicle-mounted GPS module II 32 at the point B2，y2，z2) Calculating real-time three-dimensional coordinates (x) of the C point3，y3，z3) The calculation formula is as follows:
after the coordinate of the point C is obtained, three-dimensional coordinates of two points E, F of bucket teeth at two ends of the bucket can be further calculated, because the three points E, C, F are in the same horizontal collinear line and are vertical to the line AB, after the EC distance e and the CF distance f are measured,the instantaneous three-dimensional coordinates (x) of the two points E, F can be calculated according to the following formula5，y5，z5)、(x6，y6，z6)：
The ore grade of each bucket can be accurately obtained by referring to the explosive pile level data base and the real-time positions of the bucket teeth, and when the coordinates of the bucket are located on the boundary of the ore rocks, the mobile terminal 4 can give a warning to a driver to avoid mixing of waste rocks or loss of the ore.
The foregoing is only a basic idea of the invention and is not intended to limit the invention, and all simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical spirit of the invention still fall within the protection scope of the technical solution of the invention.
Claims (2)
1. The utility model provides a metal strip mine explodes heap grade distribution and calculates system which characterized in that: the system comprises a remote terminal, a pile burst grade acquisition system, a bucket positioning system and a vehicle-mounted mobile terminal;
software for generating a pile bursting bin database is arranged in the remote terminal;
the pile-blasting grade acquisition system comprises an unmanned aerial vehicle for measuring pile-blasting three-dimensional coordinates and a system for sampling and testing blast holes;
the bucket positioning system comprises two high-precision vehicle-mounted GPS modules I and II which are arranged on a point A and a point B of the bucket rod, and the connecting line of the positions of the point A and the point B is perpendicular to the bucket and intersects with a point C of the bucket tooth;
and the vehicle-mounted mobile terminal receives and displays the explosive pile position data base and the real-time position of the bucket sent by the remote terminal.
2. The method for applying the metal open-pit blasting pile grade distribution measuring and calculating system according to claim 1 is characterized by comprising the following steps:
the method comprises the following steps: when the roller bit drilling machine drills holes, the mineral powder is taken once at the periphery of the drilled hole every drill depth d m, the mineral powder is taken and then tested, and the sample data p of different depths of each blast hole is obtained after the testijAfter blasting, surveying and mapping the blasting area by using the unmanned aerial vehicle, and finding the position (x) of the blast hole according to the position of the blasting funneli，yi，zi) Combining the test results to obtain the initial grade distribution (x)i，yi，zi-(j-1)d，pij) By means of software built in the remote terminal and by means of inverse distance power ratio method
Generating a blasting pile grade data base with the size specification of 1m multiplied by 1m of a single ore block, and sending the data base to a vehicle-mounted mobile terminal;
wherein i is the number of the blast hole, j is the sequence of the sampling points of the blast hole, and pijGrade of j-th sampling of a blast hole numbered i, DijThe distance G from the jth sampling point of the blast hole with the number i to the center of the unit ore blocknThe grade of the nth unit ore block;
step two: measuring the distance a between two points AB and the distance b between two points BC according to the real-time three-dimensional coordinates (x) of a high-precision vehicle-mounted GPS module I arranged at the point A of the bucket arm1，y1，z1) And real-time three-dimensional coordinates (x) of high-precision vehicle-mounted GPS module II at point B2，y2，z2) Calculating real-time three-dimensional coordinates (x) of the C point3，y3，z3) The calculation formula is as follows:
after the coordinate of the point C is obtained, three-dimensional coordinates of two points of the bucket teeth E, F at two ends of the bucket are further calculated, and after the EC distance e and the CF distance f are measured because the E, C, F three points are collinear with each other horizontally and are perpendicular to the AB straight line, instantaneous three-dimensional coordinates (x) of the two points E, F are calculated according to the following formula5，y5，z5)、(x6，y6，z6)：
And obtaining the ore grade of each bucket according to the explosive pile grade data base and the real-time positions of the bucket teeth, and when the coordinates of the bucket are positioned on the boundary of the ore rocks, the mobile terminal gives a warning to a driver to avoid mixing of waste rocks or loss of the ore.
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| CN202110587836.6A CN113833468A (en) | 2021-05-28 | 2021-05-28 | Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method |
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| CN202110587836.6A CN113833468A (en) | 2021-05-28 | 2021-05-28 | Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method |
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|---|---|---|---|---|
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-
2021
- 2021-05-28 CN CN202110587836.6A patent/CN113833468A/en active Pending
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Application publication date: 20211224 |