CN115456383B - Surface mine unloading area management and control method and system - Google Patents
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Abstract
The method for controlling the unloading area of the surface mine comprises the following steps: acquiring a map of a mining area; dividing an unloading area of a mining area into a plurality of subareas based on a current discharging line and a mining area scene; collecting retaining wall boundary line information in the unloading area, determining an updating sub-area needing to update the discharging line based on the collected retaining wall boundary line information, and updating the discharging line part in the updating sub-area; and determining unloading points in the updated sub-area based on the updated portion of the drain wire. A surface mine unloading area management and control system is also disclosed.
Description
Technical Field
The invention relates to the technical field of surface mining, in particular to a surface mine unloading area management and control method and a surface mine unloading area management and control system.
Background
With the continuous development of the automatic driving technology, the automatic driving technology of the surface mine is also developed. The operation flow of the unmanned vehicle comprises loading, transporting, unloading and the like. In which loading areas and the path trajectories travelled by unmanned vehicles have been well countermeasures, while in unloading areas, earth is usually dumped 1 to 2 times, with earth-moving being necessary, the dumping line being updated at a frequency of about 2 to 3 hours. The existing earth discharge line updating mode is mainly that a map collecting vehicle collects boundary line information along a retaining wall after an unmanned vehicle in an earth discharge area finishes operation, however, a map file (such as an opentreetmap format) is manufactured by using a high-precision map tool, and the map file is updated to the unmanned vehicle (such as a mine truck, a digger, a loader) through a local updating or Over-the-Air Technology (OTA). That is, in the prior art, when the discharging line needs to be updated, the entire map file needs to be updated, so that the updating is slow, and the entire unloading area is unsuitable for a large range, so that the overall operation efficiency of the mining area is low, the operation cost is high, the safety of the mining area is low, and the like.
Disclosure of Invention
The present disclosure is directed to solving at least one of the above-mentioned problems and disadvantages of the prior art.
According to one aspect of the present disclosure, there is provided a surface mine unloading area management and control method, including:
acquiring a map of a mining area;
dividing an unloading area of a mining area into a plurality of subareas based on a current discharging line and a mining area scene;
collecting retaining wall boundary line information in the unloading area, determining an updating sub-area needing to update the discharging line based on the collected retaining wall boundary line information, and updating the discharging line part in the updating sub-area; and
and determining unloading points in the updated sub-area based on the updated discharging line part.
In some embodiments, determining an updated sub-area in which an update of the drain line is required based on the collected retaining wall boundary line information includes: and calculating the distance between two intersection points of the collected retaining wall boundary line and/or the extension line thereof and the current discharging line of the unloading area and the center point of the part of the current discharging line in each subarea, wherein the sum of the distances between the two intersection points and the center point of the part of the current discharging line in the updating subarea is smaller than the sum of the distances between the two intersection points and the center points of the parts of the current discharging line in other subareas in the plurality of subareas.
In some embodiments, when there are two intersections of the collected retaining wall boundary line and the current drain line, then the portion of the current drain line between the two intersections is updated to the portion of the collected retaining wall boundary line between the two intersections.
In some embodiments, when there is one intersection point of the collected retaining wall boundary line and the current drain line, then extending the end point of the collected retaining wall boundary line, which does not intersect the current drain line, to the current drain line to obtain another intersection point, and updating the portion of the current drain line located between the two intersection points to the portion of the collected retaining wall boundary line and the extension line thereof located between the two intersection points.
In some embodiments, when there is no intersection point between the collected retaining wall boundary line and the current discharging line, the two end points of the collected retaining wall boundary line are respectively extended to the current discharging line to obtain two intersection points, and the part of the current discharging line located between the two intersection points is updated to the part of the collected retaining wall boundary line and the extending line thereof located between the two intersection points.
In some embodiments, the method further comprises:
adjusting a plurality of sub-areas of the unloading area based on the collected retaining wall boundary line and/or two intersection points of the extension line and the current dumping line of the unloading area;
acquiring an unloading point set of other subareas in the unloading area and comparing data with the updated unloading point set in the subarea;
when the distance between the unloading point in the unloading point set in the updated subarea and the unloading points in the unloading point sets in other subareas in the unloading area is smaller than a preset value, the two unloading points are set to be in a binding relation so as to avoid simultaneous operation at the two unloading points.
In some embodiments, the method further comprises: when the discharging line part in the updated sub-area is updated, all unloading points in the updated sub-area are invalidated, and simultaneously, the unloading points in other sub-areas, which have binding relation with the unloading points in the updated sub-area, are released.
In some embodiments, determining the unloading point within the updated sub-area based on the updated portion of the drain wire comprises: determining a first unloading point on the updated discharging line part, wherein the distance from the first unloading point to the starting point at one end of the updated discharging line part where the first unloading point is located is N, and sequentially determining other unloading points based on the width of the unloading point and the distance between two adjacent unloading points.
In some embodiments, when the first unloading point is located at the left end of the updated drain wire portion, N is 4 meters to 8 meters if there are no other drain wires to the left of the drain wire in the updated sub-area, and N is 0 meters to 4 meters if there are other drain wires to the left of the drain wire in the updated sub-area; or when the first unloading point is positioned at the right end of the updated dumping line part, if no other dumping line is positioned at the right side of the dumping line in the updated subarea, N is 4-8 m, and if other dumping lines are positioned at the right side of the dumping line in the updated subarea, N is 0-4 m.
In some embodiments, determining the first unloading point of the updated portion of the drain wire comprises: sequentially calculating the sum M of the distances between any adjacent longitude and latitude points a0, a1, a2, … … and an on the updated earth-discharging line part along the updated earth-discharging line part, wherein a0 is the starting point at one end of the updated earth-discharging line part where the first unloading point is located, and if the absolute value of M-N is the minimum, the longitude and latitude point an is the position of the first unloading point.
In some embodiments, the method further comprises collecting map data of the mine and generating a map based on the collected map data.
According to another aspect of the present disclosure, there is also provided a surface mine unloading area management and control system, wherein the surface mine unloading area management and control system includes:
a discharging line collection device configured to collect retaining wall boundary line information within the unloading area;
a zone division module configured to divide an unloading zone of a mine into a plurality of sub-zones based on a current dump line and mine scene of the unloading zone; and
the system comprises a drain line updating module, a drain line updating module and a control module, wherein the drain line updating module is configured to determine an updating subarea needing to update the drain line based on the collected retaining wall boundary line information and update a drain line part of the updating subarea; and determining unloading points in the updated sub-area based on the updated portion of the drain wire.
In some embodiments, the drain wire updating module is configured to calculate a distance between two intersection points of the collected retaining wall boundary line and/or extension line thereof and the current drain wire of the unloading area and a center point of a portion of the current drain wire within each sub-area, wherein a sum of distances of the two intersection points and the center point of the portion of the current drain wire within the updated sub-area is smaller than a sum of distances of the two intersection points and the center point of the portion of the current drain wire within the other sub-areas of the plurality of sub-areas.
In some embodiments, the drain wire update module is configured to: when two intersection points exist between the collected retaining wall boundary line and the current dumping line, the part of the current dumping line between the two intersection points is updated to the part of the collected retaining wall boundary line between the two intersection points.
In some embodiments, the drain wire update module is configured to: when one intersection point exists between the collected retaining wall boundary line and the current dumping line, extending the end point of the collected retaining wall boundary line, which is not intersected with the current dumping line, to the current dumping line to obtain another intersection point, and updating the part of the current dumping line between the two intersection points to the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points.
In some embodiments, the drain wire update module is configured to: when the collected retaining wall boundary line and the current dumping line have no intersection point, respectively extending two end points of the collected retaining wall boundary line to the current dumping line to obtain two intersection points, and updating the part of the current dumping line between the two intersection points into the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points.
In some embodiments, the zone division module is configured to adjust a plurality of sub-zones of the unloading zone based on two intersections of the acquired retaining wall boundary line and/or extension line and a current discharge line of the unloading zone; the surface mine unloading area management and control system further comprises a business logic module, wherein the business logic module is configured to acquire unloading point sets of other subareas in the unloading area and compare the data with the updated unloading point sets in the subareas; when the distance between the unloading point in the unloading point set in the updated subarea and the unloading points in the unloading point sets in other subareas in the unloading area is smaller than a preset value, the two unloading points are set to be in a binding relation so as to avoid simultaneous operation at the two unloading points.
In some embodiments, the business logic module is further configured to invalidate all unloading points in the update sub-area while releasing unloading points in other sub-areas that have binding relation with the unloading points in the update sub-area when the portion of the drain line in the update sub-area is updated.
In some embodiments, the drain wire updating module is further configured to determine, based on the updated drain wire portion, an unloading point within the updated sub-region comprising: determining a first unloading point on the updated discharging line part, wherein the distance from the first unloading point to the starting point at one end of the updated discharging line part where the first unloading point is located is N, and sequentially determining other unloading points based on the width of the unloading point and the distance between two adjacent unloading points.
In some embodiments, the surface mine unloading zone management and control system further includes a map data acquisition device configured to acquire map data of the mine zone and a data processing module; the data processing module generates the map based on the map data acquired by the map data acquisition device.
According to the surface mine unloading area control method and system disclosed by the embodiment of the disclosure, the whole map file is not required to be updated again after the boundary line information of the retaining wall is collected each time, so that the updating is fast, the overall operation efficiency of a mining area is improved, the operation cost is reduced, and in addition, the method and system can be applied to a larger unloading area.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flow chart of a surface mine unloading area management and control method based on a cloud control platform according to an exemplary embodiment of the present disclosure.
Fig. 2 is a schematic view of a current drain line divided into two sub-areas of an unloading area according to an exemplary embodiment of the present disclosure.
Fig. 3 is a schematic view of a current drain line and three types of retaining wall boundary lines collected according to an exemplary embodiment of the present disclosure.
Fig. 4 is a schematic diagram of an updated portion of a drain wire and a set of unloading points for an updated sub-region according to an exemplary embodiment of the present disclosure.
FIG. 5 is a schematic diagram of an updated set of discharge line sections and unloading points, wherein two unloading points are shown with binding relationships, according to an example embodiment of the present disclosure.
Detailed Description
For a clearer description of the objects, technical solutions and advantages of the present disclosure, embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the following description of the embodiments is intended to illustrate and explain the general concepts of the disclosure and should not be taken as limiting the disclosure. In the description and drawings, the same or similar reference numerals refer to the same or similar parts or components. For purposes of clarity, the drawings are not necessarily drawn to scale and some well-known components and structures may be omitted from the drawings.
Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "a" or "an" do not exclude a plurality. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "top" or "bottom" and the like are used only to indicate a relative positional relationship, which may be changed accordingly when the absolute position of the object to be described is changed. When an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, it can be "directly on" or "under" the other element or intervening elements may be present.
As shown in fig. 1, a surface mine unloading area management and control method according to the present disclosure includes:
s1: acquiring a map in a mining area;
s2: dividing an unloading area of the mining area into a plurality of sub-areas based on the current discharging line and the mining area scene;
s3: collecting retaining wall boundary line information in an unloading area, determining an updating sub-area needing to update the discharging line based on the collected retaining wall boundary line information, and updating the discharging line part in the updating sub-area; and
s5: and determining unloading points in the updated sub-area based on the updated discharging line part.
In step S1, detailed data of a vehicle collection lane, a loading area, an unloading area, and the like may be collected using a mining area map on which inertial navigation devices such as a laser radar, a GNSS (global navigation satellite system), an IMU (inertial measurement unit), and the like are mounted, and a mining area unmanned high-precision map may be generated based on these data. The IMU may include a gyro sensor, which may be three gyroscopes arranged perpendicular to each other, for measuring rotational angular speeds of the carrier around three coordinate axes thereof (simultaneously affected by angular speeds of earth rotation), and performing integral operation and coordinate conversion on the obtained angular speeds to calculate attitude angles (including roll angles, pitch angles, etc.) and azimuth angles of the mining area map-collecting vehicle. The components of the gravitational acceleration on the coordinate axes can be calculated according to the attitude angle. The IMU may further include an accelerometer for acquiring angular velocity and acceleration, which may be based on newton's second law, using capacitive, piezoresistive or thermal convection principles, and obtaining an acceleration value by measuring the corresponding inertial force of the mass during acceleration. GNSS is used to collect latitude and longitude information. Lidar may be used to collect point cloud information. And finally, combining the acquired information such as angular speed and the like with given initial conditions (such as current speed, position, attitude and the like) through a Kalman filter, and carrying out information fusion with longitude and latitude information acquired by GNSS and point cloud information acquired by a laser radar, so as to calculate parameters such as speed, position, attitude and the like in real time. The longitude and latitude information acquired by the GNSS and the point cloud information acquired by the laser radar can be used for measuring and updating the Kalman filter in real time, and then the Kalman filter can repair the result according to errors of the position, the speed and the gesture. Of course, the map may also be pre-drawn and stored, for example, in a data storage module or retrieved from other sources.
In step S2, the unloading area is divided into a plurality of sub-areas based on the current discharging line and the mining area scene, for example, if the current discharging line is too long, the current discharging line may be divided into two or more line segments, where the area where each line segment is located may be regarded as one sub-area. As shown in fig. 2, since the current drain line L is long in length, the current drain line L is divided into a line segment a and a line segment B, and the unloading area is divided into an a sub-area and a B sub-area based on the area where the line segment 1 and the line segment B are located. In addition, when there is an inflection point in the discharging line, the unloading area may be divided based on the inflection point.
In step S3, the retaining wall boundary line (i.e., the inner line of the retaining wall) information in the unloading area, which may include coordinate information such as longitude, latitude, altitude, heading angle, and the like, may be acquired using an inertial navigation device such as a laser radar, a GNSS (global navigation satellite system), an IMU (inertial measurement unit), a V2N (vehicle cloud communication) device, and a loader of the HMI device.
In this embodiment, determining an updated sub-area in which the drain line needs to be updated based on the collected retaining wall boundary line information includes: and calculating the distance between two intersection points of the collected retaining wall boundary line and/or extension line and the current discharging line of the unloading area and the central point of the discharging line part of the current discharging line in each sub-area, wherein the sum of the distances between the two intersection points and the central point of the part of the current discharging line in the updating sub-area is smaller than the sum of the distances between the two intersection points and the central points of the parts of the current discharging line in other sub-areas in the plurality of sub-areas. That is, the sub-area closest to the collected retaining wall boundary line is determined as the updated sub-area of the discharging line to be updated. For example, in fig. 3, two intersection points of the line 1 and the current discharging line are distributed as m (x, y), n (x, y), and then distances between the points m, n and the midpoints Oa (x, y), ob (x, y) of the portions a, b of the current discharging line in each sub-area A, B are calculated to obtain (mOa, nOa), (mOb, nOb), then each group of data is added, that is, d1= mOa + nOa, d2= mOb + nOb, and finally D1, D2 are compared, where the sub-area where the center point corresponding to the smallest one of D1, D2 is the updated sub-area where the discharging line needs to be updated at the present time. Of course, in other embodiments of the present disclosure, other ways of determining the updated sub-area may be employed, for example, the closest sub-area to the collected retaining wall boundary line may be determined directly based on the location coordinates thereof to obtain the updated sub-area of the drain line to be updated.
In some embodiments, when there are two intersections m, n of the collected retaining wall boundary line with the current drain line, as shown by line 1 in fig. 3, updating the portion of the drain line within the update sub-area includes updating the portion of the current drain line L located between the two intersections m, n to the portion of the collected retaining wall boundary line (i.e., line 1) located between the two intersections m, n. When there is one intersection point of the collected retaining wall boundary line with the current discharging line, as shown by line 3 in fig. 3, updating the discharging line portion within the updated sub-area includes extending the end point of the collected retaining wall boundary line (i.e., line 3) which does not intersect with the current discharging line L to obtain another intersection point, and updating the portion of the current discharging line L located between the two intersection points to the portion of the collected retaining wall boundary line (i.e., line 3) and its extension line located between the two intersection points. When there is no intersection point of the collected retaining wall boundary line with the current discharging line, as shown by line 2 in fig. 3, both end points of the collected retaining wall boundary line are extended to the current discharging line L, respectively, to obtain two intersection points, and a portion of the current discharging line L located between the two intersection points is updated to a portion of the collected retaining wall boundary line (i.e., line 2) and its extension line located between the two intersection points.
In an exemplary embodiment of the present disclosure, as shown in fig. 1, the surface mine unloading area management and control method further includes:
s4, adjusting a plurality of subareas of the unloading area based on the collected retaining wall boundary line and/or two intersection points of the extension line and the current dumping line of the unloading area;
s6, acquiring an unloading point set of other subareas in the unloading area and comparing the data with the updated unloading point set in the subarea;
and S7, setting the two unloading points into a binding relation when the distance between the unloading point in the unloading point set in the updated subarea and the unloading point in the unloading point set in the other subarea is smaller than a preset value so as to avoid simultaneous operation at the two unloading points. Preferably, the predetermined value may be 7-9 meters, for example 8 meters. For example, in the example shown in fig. 5, the distance between the unloading point 3 of the a sub-area and the unloading point 4 of the B sub-area is smaller than a predetermined value, and the unloading point 3 of the a sub-area and the unloading point 4 of the B sub-area are set in a binding relationship to avoid simultaneous jobs at the two unloading points 3, 4. Of course, in other embodiments of the present disclosure, the predetermined value may be other values, such as 10 meters, 6 meters, etc., and the specific value may be specifically set based on the location and scene in which the two unloading points are located.
In step S5, adjusting the plurality of sub-areas of the unloading area based on the collected two intersections of the retaining wall boundary line and/or extension line and the current discharging line of the unloading area comprises: when the two intersection points of the updated and current drain line portions are distributed in different sub-areas, the sub-areas are re-divided based on the intersection points, for example, as shown by line 2 in fig. 3, the extending line on the right side thereof intersects with the drain line portion B of the B area, and the extending line on the left side intersects with the drain line portion a of the a sub-area, and when the drain line is updated to a portion where the collected retaining wall boundary line (i.e., line 2) and its extending line are located between the two intersection points, it is necessary to adjust the boundary between the a sub-area and the B sub-area so that it passes through the intersection point of the extending line of line 2 and the B line segment, in which case the updated sub-area is the adjusted a sub-area. In some embodiments, although the updated drain wire portions are all located in the a sub-region, as shown by line 1 in fig. 3, since there is a large inflection point of the updated drain wire portion mn with the current drain wire L, in this case, the boundary between the a sub-region and the B sub-region needs to be adjusted so that it passes through the intersection n of line 1 and the a line segment, in which case the updated sub-region is the adjusted a sub-region. When the updated drain wire portion mn is in smooth transition with the current drain wire L, the plurality of sub-areas of the unloading area may not be adjusted.
In an exemplary embodiment of the present disclosure, as shown in fig. 5, the surface mine unloading area management and control method further includes:
s8: when the discharging line part in the updated sub-area is updated, all unloading points in the updated sub-area are invalidated, and simultaneously, the unloading points in other sub-areas, which have binding relation with the unloading points in the updated sub-area, are released. It should be noted that, in other embodiments, when the updated portion of the drain wire (as shown in the portion of the line 1 located between the points m and n) is located in one sub-area, for example, the sub-area a, if the portion of the drain wire is in smooth transition with the current drain wire L, no adjustment is needed for the sub-area, that is, the updated sub-area is consistent with the original sub-area a, and only the unloading point on the updated portion mn of the drain wire in the sub-area a may be disabled.
In an exemplary embodiment of the present disclosure, as shown in fig. 4, determining an unloading point of the updated sub-area based on the updated portion of the drain line includes: determining a first unloading point P on the updated discharging line part, wherein the distance between the first unloading point 1 and a starting point a0 of one end of the updated discharging line part where the first unloading point 1 is located is N, and sequentially determining other unloading points based on the width L1 of the unloading points and the distance L2 between two adjacent unloading points.
In an exemplary embodiment of the present disclosure, as shown in fig. 4, when the first unloading point 1 is located at the left end of the updated drain wire portion, if there are no other drain wires at the left side of the updated drain wire portion, N is 4 to 8 meters, and if there are other drain wires at the left side of the updated drain wire portion, N is 0 to 4 meters; or when the first unloading point is positioned at the right end of the updated drain wire portion, if no other drain wire is positioned at the right side of the updated drain wire portion, N is 4 to 8 meters, and if other drain wire is positioned at the right side of the updated drain wire portion, N is 0 to 4 meters. Of course, in other embodiments of the present disclosure, the value of N may be other values, and the particular values may be specifically set on a case-by-case basis.
In an exemplary embodiment of the present disclosure, as shown in fig. 1, determining a first unloading point 1 of an updated portion of the drain wire includes: sequentially calculating the sum M of the distances between any adjacent longitude and latitude points a0, a1, a2, … … and an on the updated earth-discharging line part along the updated earth-discharging line part, wherein a0 is the starting point of one end of the updated earth-discharging line part where the first unloading point is located, and if the absolute value of M-N is the minimum, the longitude and latitude point an is the position of the first unloading point. This is because the actually collected discharging line is not a straight line, and the position of the unloading point can be calculated more accurately by integrating the distances between the two points.
In an exemplary embodiment of the present disclosure, the surface mine unloading area management method further includes collecting map data of the mine area, and generating a map based on the collected map data. Of course, in other embodiments, the map of the mine site may also be pre-plotted and stored in a data storage device of the surface mine unloading area management and control system.
According to another aspect of the present disclosure, there is also provided a surface mine unloading area management and control system, including: the system comprises a discharging line acquisition device, a discharging line acquisition device and a discharging line acquisition device, wherein the discharging line acquisition device is configured to acquire the boundary line information of a retaining wall in an unloading area; the system comprises a region dividing module, a mining area unloading module and a mining area loading module, wherein the region dividing module is configured to divide an unloading area into a plurality of subareas based on a current dumping line of the unloading area of the mining area and a mining area scene; and a discharging line updating module configured to communicate with the discharging line collecting device and the area dividing module to determine an updating sub-area in which the discharging line needs to be updated based on the collected retaining wall boundary line information and to update a discharging line portion of the updating sub-area; and determining unloading points in the updated sub-area based on the updated portion of the drain wire. The discharging line updating module can be a field device or a remote device, for example, can be arranged at a cloud end, and can send the determined discharging line and the unloading point thereof to the unmanned vehicle so as to control the operation of the unmanned vehicle.
In this embodiment, the discharging line updating module is further configured to calculate a distance between two intersection points of the collected retaining wall boundary line and/or its extension line and the current discharging line of the unloading area and a center point of a portion of the current discharging line within each sub-area, wherein a sum of distances of the two intersection points and the center point of the portion of the current discharging line within the updating sub-area is smaller than a sum of distances of the two intersection points and the center point of the portion of the current discharging line within the other sub-areas of the plurality of sub-areas.
Wherein when two intersections exist between the collected retaining wall boundary line and the current discharging line, the discharging line updating module updates a portion of the current discharging line between the two intersections to a portion of the collected retaining wall boundary line between the two intersections. When one intersection point exists between the collected retaining wall boundary line and the current dumping line, the dumping line updating module extends the end point of the collected retaining wall boundary line, which is not intersected with the current dumping line, to the current dumping line so as to obtain the other intersection point, and updates the part of the current dumping line between the two intersection points into the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points. When the collected retaining wall boundary line and the current dumping line do not have intersection points, the dumping line updating module extends two end points of the collected retaining wall boundary line to the current dumping line respectively to obtain two intersection points, and updates the part of the current dumping line between the two intersection points to the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points.
In this embodiment, the zone division module is further configured to adjust the plurality of sub-zones of the unloading zone based on the collected retaining wall boundary line and/or two intersection points of the extension line and the current discharging line of the unloading zone; the surface mine unloading area management and control system further comprises a business logic module, wherein the business logic module is configured to acquire unloading point sets of other subareas in the unloading area and compare the data with the updated unloading point sets in the subareas; when the distance between the unloading points in the unloading point set in the updated subarea and the unloading points in the unloading point sets in other subareas in the unloading area is smaller than a preset value, the two unloading points are set into a binding relation so as to avoid simultaneous operation at the two unloading points.
In this embodiment, the business logic module is further configured to invalidate all unloading points in the update sub-area while releasing unloading points in other sub-areas having binding relation with the unloading points in the update sub-area when the portion of the drain line in the update sub-area is updated.
The drain wire updating module is further configured to determine, based on the updated drain wire portion, an unloading point within the updated sub-area comprising: determining a first unloading point on the updated discharging line portion, wherein the distance from the first unloading point to the starting point at one end of the updated discharging line portion where the first unloading point is located is N, and sequentially determining other unloading points based on the width of the unloading point and the distance between two adjacent unloading points.
The surface mine unloading area management and control system further comprises a map data acquisition device and a data processing module, wherein the map data acquisition device is configured to acquire map data of a mining area; the data processing module generates a map based on the map data acquired by the map data acquisition device.
The surface mine unloading area management and control system further comprises a data storage device, wherein the data storage device receives data acquired by the dumping line acquisition device, the dumping lines updated by the dumping line updating module, the sub-area conditions divided by the area dividing module, the positions of the updated unloading points and the like are stored.
In addition, the surface mine unloading area management and control system further comprises a log module for receiving operation logs from other modules during the operation of the surface mine unloading area management and control system.
According to the surface mine unloading area control method and system, the whole map file does not need to be updated again after the retaining wall boundary line information is collected each time, so that the updating is fast, the overall operation efficiency of a mining area is improved, the operation cost is reduced, and in addition, the method and system can be applied to a larger unloading area.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (12)
1. A surface mine unloading area management and control method, comprising:
acquiring a map of a mining area;
dividing an unloading area of a mining area into a plurality of subareas based on a current discharging line and a mining area scene;
collecting retaining wall boundary line information in the unloading area, determining an updating sub-area needing to update the discharging line based on the collected retaining wall boundary line information, and updating the discharging line part in the updating sub-area; and
determining unloading points in the updated sub-area based on the updated portion of the drain wire,
wherein determining an updated sub-area in which the drain line needs to be updated based on the collected retaining wall boundary line information includes: calculating the distance between two intersection points of the collected retaining wall boundary line and/or the extension line thereof and the current discharging line of the unloading area and the center point of the part of the current discharging line in each sub-area, wherein the sum of the distances between the two intersection points and the center point of the part of the current discharging line in the updated sub-area is smaller than the sum of the distances between the two intersection points and the center points of the parts of the current discharging line in other sub-areas in the plurality of sub-areas,
when two intersection points exist between the collected retaining wall boundary line and the current discharging line, the part of the current discharging line between the two intersection points is updated to the part of the collected retaining wall boundary line between the two intersection points,
when there is an intersection point between the collected retaining wall boundary line and the current discharging line, extending the end point of the collected retaining wall boundary line, which is not intersected with the current discharging line, to the current discharging line to obtain another intersection point, and updating the part of the current discharging line between the two intersection points to the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points,
when the collected retaining wall boundary line and the current dumping line have no intersection point, respectively extending two end points of the collected retaining wall boundary line to the current dumping line to obtain two intersection points, and updating the part of the current dumping line between the two intersection points into the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points.
2. The method of managing according to claim 1, wherein the method further comprises:
adjusting a plurality of sub-areas of the unloading area based on the collected retaining wall boundary line and/or two intersection points of the extension line and the current dumping line of the unloading area;
acquiring an unloading point set of other subareas in the unloading area and comparing data with the updated unloading point set in the subarea;
when the distance between the unloading point in the unloading point set in the updated subarea and the unloading points in the unloading point sets in other subareas in the unloading area is smaller than a preset value, the two unloading points are set to be in a binding relation so as to avoid simultaneous operation at the two unloading points.
3. The method of managing as set forth in claim 2, wherein the method further includes: when the discharging line part in the updated sub-area is updated, all unloading points in the updated sub-area are invalidated, and simultaneously, the unloading points in other sub-areas, which have binding relation with the unloading points in the updated sub-area, are released.
4. A method of managing according to any one of claims 1-3, wherein determining unloading points within the updated sub-area based on the updated portion of the drain line comprises: determining a first unloading point on the updated discharging line part, wherein the distance from the first unloading point to the starting point at one end of the updated discharging line part where the first unloading point is located is N, and sequentially determining other unloading points based on the width of the unloading point and the distance between two adjacent unloading points.
5. The control method according to claim 4, wherein when the first unloading point is located at the left end of the updated discharging line portion, N is 4 to 8 meters if there are no other discharging lines on the left side of the discharging line in the updated sub-area, and N is 0 to 4 meters if there are other discharging lines on the left side of the discharging line in the updated sub-area; or when the first unloading point is positioned at the right end of the updated dumping line part, if no other dumping line is positioned at the right side of the dumping line in the updated subarea, N is 4-8 m, and if other dumping lines are positioned at the right side of the dumping line in the updated subarea, N is 0-4 m.
6. The method of managing of claim 5, wherein determining a first unloading point of the updated portion of the drain wire comprises: sequentially calculating the sum M of the distances between any adjacent longitude and latitude points a0, a1, a2, … … and an on the updated earth-discharging line part along the updated earth-discharging line part, wherein a0 is the starting point at one end of the updated earth-discharging line part where the first unloading point is located, and if the absolute value of M-N is the minimum, the longitude and latitude point an is the position of the first unloading point.
7. The method of claim 1, further comprising collecting map data of the mine and generating a map based on the collected map data.
8. An open pit mine unloading area management and control system, wherein the open pit mine unloading area management and control system comprises:
a discharging line collection device configured to collect retaining wall boundary line information within the unloading area;
a zone division module configured to divide an unloading zone of a mine into a plurality of sub-zones based on a current dump line and mine scene of the unloading zone; and
the system comprises a drain line updating module, a drain line updating module and a control module, wherein the drain line updating module is configured to determine an updating subarea needing to update the drain line based on the collected retaining wall boundary line information and update a drain line part of the updating subarea; and determining unloading points in the updated sub-area based on the updated portion of the drain wire,
wherein the disposal line updating module is configured to calculate a distance between two intersection points of the collected retaining wall borderline and/or extension line thereof and the current disposal line of the unloading area and a center point of a portion of the current disposal line within each sub-area, wherein a sum of distances of the two intersection points and the center point of the portion of the current disposal line within the updated sub-area is smaller than a sum of distances of the two intersection points and the center point of the portion of the current disposal line within other sub-areas of the plurality of sub-areas,
the drain wire update module is configured to: when two intersection points exist between the collected retaining wall boundary line and the current discharging line, the part of the current discharging line between the two intersection points is updated to the part of the collected retaining wall boundary line between the two intersection points,
the drain wire update module is configured to: when there is an intersection point between the collected retaining wall boundary line and the current discharging line, extending the end point of the collected retaining wall boundary line, which is not intersected with the current discharging line, to the current discharging line to obtain another intersection point, and updating the part of the current discharging line between the two intersection points to the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points,
the drain wire update module is configured to: when the collected retaining wall boundary line and the current dumping line have no intersection point, respectively extending two end points of the collected retaining wall boundary line to the current dumping line to obtain two intersection points, and updating the part of the current dumping line between the two intersection points into the part of the collected retaining wall boundary line and the extending line thereof between the two intersection points.
9. The management and control system of claim 8, wherein the zone division module is configured to adjust a plurality of sub-zones of the unloading zone based on two intersection points of the acquired retaining wall boundary line and/or extension line and a current drain line of the unloading zone; the surface mine unloading area management and control system further comprises a business logic module, wherein the business logic module is configured to acquire unloading point sets of other subareas in the unloading area and compare the data with the updated unloading point sets in the subareas; when the distance between the unloading point in the unloading point set in the updated subarea and the unloading points in the unloading point sets in other subareas in the unloading area is smaller than a preset value, the two unloading points are set to be in a binding relation so as to avoid simultaneous operation at the two unloading points.
10. The management and control system of claim 9, wherein the business logic module is further configured to invalidate all unloading points in the updated sub-area while releasing unloading points in other sub-areas that have a binding relationship with the unloading points in the updated sub-area when the portion of the drain line in the updated sub-area is updated.
11. The management and control system of claim 9, wherein the drain wire update module is further configured to determine, based on the updated drain wire portion, an unloading point within the updated sub-region comprises: determining a first unloading point on the updated discharging line part, wherein the distance from the first unloading point to the starting point at one end of the updated discharging line part where the first unloading point is located is N, and sequentially determining other unloading points based on the width of the unloading point and the distance between two adjacent unloading points.
12. The control system of claim 8, wherein the surface mine unloading zone control system further comprises a map data acquisition device configured to acquire map data of a mine zone and a data processing module; the data processing module generates the map based on the map data acquired by the map data acquisition device.
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