CN116704116A - Three-dimensional modeling collaborative system and method for surface mine - Google Patents
Three-dimensional modeling collaborative system and method for surface mine Download PDFInfo
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Abstract
The application provides a three-dimensional modeling collaborative system and a three-dimensional digital twin management and control system for an open mine, wherein the system comprises an unmanned vehicle group, an unmanned aerial vehicle group and a three-dimensional digital twin management and control system, the unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is provided with a plurality of unmanned aerial vehicles, the three-dimensional digital twin management and control system is used for generating a three-dimensional modeling or three-dimensional reconstruction total task and sending the three-dimensional modeling or three-dimensional reconstruction total task to the unmanned aerial vehicles, the unmanned aerial vehicles receive the total task generated by the three-dimensional digital twin management and control system and then send the total task to the unmanned aerial vehicles, after the unmanned aerial vehicles receive the task, the unmanned aerial vehicles judge whether the task can be completed and execute the task, feedback acquired information is fed back to the unmanned aerial vehicles where the unmanned aerial vehicles are located, the unmanned aerial vehicles receive and process feedback information of the unmanned aerial vehicles, judge whether the task is completed, and three-dimensional modeling or three-dimensional reconstruction is carried out according to the acquired information fed back by the unmanned aerial vehicles.
Description
Technical Field
The application relates to the technical field of mine modeling, in particular to a three-dimensional modeling collaborative system and method for an open pit mine.
Background
The three-dimensional twin modeling is applied to a meta-universe system of an intelligent mine factory, and is a basic work of production process cognition, simulation exercise and safe production experience in a virtual reality mode. The three-dimensional modeling and three-dimensional reconstruction are carried out on the surface mine through technologies such as digital twinning, universe, three-dimensional modeling, unmanned aerial vehicle aerial photography and the like, BIM models are built on workshops and various devices of the production line, a three-dimensional digital twinning management and control system of the surface mine is built, the running state, characteristic data, alarm abnormality and the like of the whole production line are dynamically managed in real time under a three-dimensional view angle, and the method is a main mode for realizing digital transformation of the surface mine at present. The method can effectively improve the safety production level, reduce the training cost, improve the production benefit, and is beneficial to mine exploration and development and protection utilization work.
Because the mining production of the surface mine is a dynamic process, the three-dimensional modeling of the surface mine is different from the modeling of various devices in a production line workshop and a workshop, and the model needs to be frequently reconstructed so as to dynamically display the changes of production conditions and environments in a production management and control system. The outdoor mine is usually in remote geographic position and inconvenient in traffic, personnel working in modeling field and internal work can reach the outdoor mine after going through one time of boat and car from the outside, meanwhile, due to the fact that the mine is poor in field condition and wide in modeling geographic range, a certain safety problem exists in outdoor operation in mountain areas, the time period for manually operating the multi-rotor unmanned aerial vehicle to complete information acquisition and modeling is long, and safety is poor. Meanwhile, the method can collect a large amount of redundant information, the unmanned aerial vehicle is long in control time, and when three-dimensional reconstruction is carried out on an irregular or relatively frequent surface mine, the problems of large personnel workload, low overall efficiency, high implementation cost and high difficulty exist.
Meanwhile, the space roaming, path guiding and other important areas and function information of the meta-universe application system are usually set in modeling devices and systems in a manual mode at present, and the modeling process is not accurate and automatic enough. The virtual twin digital application needs to be combined with functions of space roaming, path planning and the like from a metauniverse application system, so that planned modeling optimization and dynamic twin application are realized.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide a three-dimensional modeling collaborative system and method for an open pit mine, which solve the problems of large personnel workload, poor safety, low overall efficiency, high implementation cost and high difficulty faced by the current three-dimensional modeling or model reconstruction.
In order to solve the problems, the technical scheme of the application is as follows:
the three-dimensional modeling collaborative system of the surface mine comprises an unmanned vehicle group, an unmanned aerial vehicle group and a three-dimensional digital twin management and control system, wherein the unmanned vehicle group comprises a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is loaded with an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles, the three-dimensional digital twin management and control system is used for generating a three-dimensional modeling or three-dimensional reconstruction total task and sending the three-dimensional modeling or three-dimensional reconstruction total task to the unmanned aerial vehicle, the unmanned aerial vehicle receives the total task generated by the three-dimensional digital twin management and control system and then sends the total task to the unmanned aerial vehicle loaded by the unmanned aerial vehicle, after the unmanned aerial vehicle receives the task, the unmanned aerial vehicle judges whether the task can be completed and executes the task, the feedback information acquired after the task is executed is fed back to the unmanned aerial vehicle, the unmanned aerial vehicle receives and processes the feedback information of the unmanned aerial vehicle, and judges whether the task is completed, and three-dimensional modeling or three-dimensional reconstruction is carried out according to the acquisition information fed back by the unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle is provided with an interface for stopping, charging and data transmission provided for the unmanned aerial vehicle.
Preferably, each unmanned aerial vehicle comprises a task generating module, a path planning module, an unmanned aerial vehicle communication module, an unmanned aerial vehicle management module, an information storage module and a three-dimensional modeling module, wherein the three-dimensional digital twin management and control system issues a total task to the unmanned aerial vehicle management module, the unmanned aerial vehicle management module sends the total task to the task generating module, and the task generating module automatically decomposes the total task into N subtasks.
Preferably, the task generating module further decomposes the subtask into n×m subtasks according to the size of the subtask and the completion condition of the subtask.
Preferably, the unmanned aerial vehicle issues the subtasks or the subtasks to the related unmanned aerial vehicle through the unmanned aerial vehicle management module and the unmanned aerial vehicle communication module, the path planning module is responsible for planning the flight path for the subtasks or the subtasks, and the path planning data is contained in the total tasks issued to the unmanned aerial vehicle by the three-dimensional digital twin management and control system.
Preferably, the information storage module is used for storing the acquisition information fed back by the unmanned aerial vehicle group, and the three-dimensional modeling module is used for carrying out mine three-dimensional modeling or three-dimensional reconstruction according to the acquisition information fed back by the unmanned aerial vehicle.
Preferably, each unmanned aerial vehicle comprises a task execution module, an acquisition and storage module, an unmanned aerial vehicle communication module and an unmanned aerial vehicle management module, wherein the unmanned aerial vehicle receives tasks issued by unmanned aerial vehicles through the unmanned aerial vehicle communication module and the unmanned aerial vehicle management module, judges whether the tasks can be completed, and if the tasks can not be completed, directly feeds back the tasks which cannot be distributed to the corresponding unmanned aerial vehicles; if the modeling can be completed, executing the task through the task execution module, and calling the acquisition storage module to acquire and store information required by the modeling.
Preferably, the unmanned aerial vehicle flies back to the unmanned aerial vehicle after each time the unmanned aerial vehicle executes the assigned task, and charges automatically according to the self-electricity condition so as to execute the task assigned by the subsequent unmanned aerial vehicle.
Further, the application also provides a three-dimensional modeling collaborative method for the surface mine, which comprises the following steps:
generating one or more total tasks of three-dimensional modeling or three-dimensional reconstruction through a three-dimensional digital twin management and control system, and issuing the one or more total tasks to one or more unmanned vehicles in the unmanned vehicle group;
the unmanned aerial vehicle decomposes the received three-dimensional modeling or three-dimensional reconstruction total task into a plurality of subtasks, and issues the subtasks to relevant unmanned aerial vehicles in the unmanned aerial vehicle group carried by the unmanned aerial vehicle;
the unmanned aerial vehicle receives a task issued by the unmanned aerial vehicle, judges whether the task can be completed and executed, and feeds back acquired information to the unmanned aerial vehicle after the task is executed;
the unmanned aerial vehicle receives and processes feedback information of the unmanned aerial vehicle, judges whether a task is completed, and performs three-dimensional modeling or three-dimensional reconstruction according to the acquired information fed back by the unmanned aerial vehicle;
the unmanned aerial vehicle returns to the unmanned aerial vehicle after the assigned tasks are executed.
Preferably, the unmanned aerial vehicle further decomposes the subtask into a plurality of subtasks according to the scale of the subtask and the completion condition of the subtask, and issues the subtasks to relevant unmanned aerial vehicles in the unmanned aerial vehicle group.
Compared with the prior art, the three-dimensional modeling collaborative system and method for the surface mine provided by the application have the advantages that the three-dimensional modeling or three-dimensional reconstruction work of the surface mine is completed through the collaborative system consisting of the unmanned vehicle group, the unmanned vehicle group and the three-dimensional digital twin management and control system, and the problems of large personnel workload, poor safety, low overall efficiency, high implementation cost and high difficulty in current three-dimensional modeling or model reconstruction are solved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a three-dimensional modeling collaborative system of an open pit mine according to an embodiment of the present application;
fig. 2 is a structural block diagram of a three-dimensional modeling collaborative system for an open pit mine according to an embodiment of the present application;
FIG. 3 is a flow chart of a three-dimensional modeling collaborative method for an open pit mine provided by an embodiment of the application;
fig. 4 is a detailed flowchart of a three-dimensional modeling collaborative method for an open pit mine according to an embodiment of the present application.
Detailed Description
The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.
Fig. 1 is a schematic structural diagram of a three-dimensional modeling collaborative system of an open pit mine provided by an embodiment of the present application, and fig. 2 is a structural block diagram of the three-dimensional modeling collaborative system of an open pit mine provided by an embodiment of the present application, as shown in fig. 1 and fig. 2, the system includes an unmanned vehicle group, an unmanned aerial vehicle group and a three-dimensional digital twin management and control system 3, the unmanned vehicle group includes a plurality of unmanned vehicles 1, each unmanned vehicle 1 may be loaded with an unmanned aerial vehicle group composed of a plurality of unmanned aerial vehicles 2, and an interface for parking, charging and data transmission provided for the unmanned aerial vehicle 2 is provided on the unmanned aerial vehicle 1.
The three-dimensional digital twin management and control system 3 is used for generating one or more total tasks of three-dimensional modeling or three-dimensional reconstruction and sending the tasks to one or more unmanned vehicles in the unmanned vehicle group, the unmanned vehicles send the tasks to unmanned vehicles carried by the unmanned vehicles after receiving the total tasks generated by the three-dimensional digital twin management and control system 3, the unmanned vehicles judge whether the tasks can be completed and feed back results to the unmanned vehicles where the unmanned vehicles are located after receiving the tasks, the unmanned vehicles receive and process feedback information of the unmanned vehicles, judge whether the tasks are completed, and perform three-dimensional modeling or three-dimensional reconstruction according to acquired information fed back by the unmanned vehicles.
The unmanned vehicle group comprises a plurality of unmanned vehicles 1, and each unmanned vehicle comprises a task generating module 11, a path planning module 12, an unmanned vehicle communication module 13, an unmanned vehicle management module 14, an information storage module 15 and a three-dimensional modeling module 16. The unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles 2, and each unmanned aerial vehicle comprises a task execution module 23, a collection storage module 24, an unmanned aerial vehicle communication module 21 and an unmanned aerial vehicle management module 22.
The specific working process is as follows:
for a single drone in a population of drones:
generating a total task: and the three-dimensional digital twin management and control system generates a total task of three-dimensional modeling or three-dimensional reconstruction according to the planning and production plan. Modeling area and path information are input into modeling task configuration through the three-dimensional digital twin management and control system.
Issuing a total task: after the laid unmanned vehicles and the vehicle-mounted unmanned aerial vehicle group of the unmanned vehicles are in place, the three-dimensional digital twin management and control system issues a total task to the unmanned vehicle management module.
The overall task is broken down into subtasks: the task generating module 11 on the unmanned aerial vehicle automatically decomposes the modeling total task into N subtasks according to the received task information, the vehicle-mounted unmanned aerial vehicle group scale, the modeling completion condition and other information.
In an alternative embodiment, the subtasks may also be broken down into subtasks: the task generating module on the unmanned vehicle further decomposes the subtasks into N.M subtasks according to the scale of the subtasks, the completion condition of the subtasks and the like.
The path planning module 12 on the drone is responsible for planning the flight path for the subtasks or subtasks, the path planning data being contained in the overall mission issued to the drone by the three-dimensional digital twin management and control system.
Issuing sub-tasks: the drone issues subtasks or subtasks to the relevant drones in the drone group 2 through the drone management module 13 and the drone communication module 14.
And feeding back result information after task execution: the information storage module 15 on the drone is responsible for storing feedback information for the drone group 2.
Judging the task completion condition: the three-dimensional modeling module 16 on the unmanned aerial vehicle is responsible for carrying out mine three-dimensional modeling or three-dimensional reconstruction according to the acquisition information fed back by the unmanned aerial vehicle, judging the completion conditions of the subtasks, the subtasks and the total tasks according to the actual modeling conditions, and providing a basis for the task generating module 11.
For a single drone in a drone group:
receiving a task: the task is received through the communication module 21 and the management module 22 of the unmanned aerial vehicle, after the task is received, whether the current electric quantity and the self condition can finish the task is preliminarily judged, and if the task can not be finished, the task which can not be distributed is directly fed back to the corresponding unmanned aerial vehicle.
Performing the task: if so, the task is executed by the task execution module 23 on the unmanned aerial vehicle, and the acquisition and storage module 24 is called to acquire and store information required by modeling.
And (3) returning to charge: the unmanned aerial vehicle flies back to the unmanned aerial vehicle after each time the assigned task is executed, and is automatically charged according to the self-electricity condition, so that the subsequent task assigned by the unmanned aerial vehicle is executed.
Fig. 3 is a flow chart of a three-dimensional modeling collaboration method for an open pit mine, provided by an embodiment of the present application, and fig. 4 is a detailed flow chart of the three-dimensional modeling collaboration method for an open pit mine, provided by an embodiment of the present application, as shown in fig. 3 and fig. 4, where the method includes the following steps:
s1: generating one or more total tasks of three-dimensional modeling or three-dimensional reconstruction through a three-dimensional digital twin management and control system, and issuing the one or more total tasks to one or more unmanned vehicles in the unmanned vehicle group;
specifically, the three-dimensional digital twin management and control system generates one or more total tasks of three-dimensional modeling or three-dimensional reconstruction according to planning and production plans, and after the laid unmanned vehicle group and the vehicle-mounted unmanned aerial vehicle group of each unmanned aerial vehicle are in place, the three-dimensional digital twin management and control system issues the total tasks to one or more unmanned vehicles in the unmanned vehicle group.
S2: the unmanned aerial vehicle decomposes the received three-dimensional modeling or three-dimensional reconstruction total task into a plurality of subtasks, and issues the subtasks to relevant unmanned aerial vehicles in the unmanned aerial vehicle group carried by the unmanned aerial vehicle;
specifically, a task generating module on the unmanned aerial vehicle automatically decomposes a three-dimensional modeling or three-dimensional reconstruction total task into N sub-tasks according to the received task information, the vehicle-mounted unmanned aerial vehicle group scale, the modeling completion condition and other information, and issues the sub-tasks to relevant unmanned aerial vehicles in the unmanned aerial vehicle group.
In an optional embodiment, the task generating module on the unmanned aerial vehicle further decomposes the subtask into n×m subtasks according to the information such as the scale of the subtask and the completion condition of the subtask, and issues the subtasks to relevant unmanned aerial vehicles in the unmanned aerial vehicle group.
S3: the unmanned aerial vehicle receives a task issued by the unmanned aerial vehicle, judges whether the task can be completed and executed, and feeds back acquired information to the unmanned aerial vehicle after the task is executed;
specifically, after receiving a task, the unmanned aerial vehicle preliminarily judges whether the current electric quantity and the self condition can complete the task, and if the current electric quantity and the self condition cannot complete the task, the unmanned aerial vehicle directly feeds back to the corresponding unmanned aerial vehicle that the task cannot be distributed; if the task can be completed, the task is executed through a task execution module on the unmanned aerial vehicle, and after the task is executed, the unmanned aerial vehicle feeds back the acquired information to the unmanned aerial vehicle.
S4: the unmanned aerial vehicle receives and processes feedback information of the unmanned aerial vehicle, judges whether a task is completed, and performs three-dimensional modeling or three-dimensional reconstruction according to the acquired information fed back by the unmanned aerial vehicle;
specifically, the unmanned aerial vehicle receives and processes feedback information of the unmanned aerial vehicle, judges whether a subtask, a subtask or a total task is completed, and performs three-dimensional modeling or three-dimensional reconstruction according to the acquired information fed back by the unmanned aerial vehicle.
S5: the unmanned aerial vehicle returns to the unmanned aerial vehicle after the assigned tasks are executed.
Specifically, the unmanned aerial vehicle returns to the unmanned aerial vehicle after each time of executing the assigned task, and automatically charges according to the self-electricity condition so as to execute the task assigned by the subsequent unmanned aerial vehicle.
In summary, the application provides a three-dimensional modeling collaborative system and a three-dimensional modeling collaborative method for an open pit mine, which are used for completing three-dimensional modeling or three-dimensional reconstruction work of the open pit mine through a collaborative system consisting of an unmanned vehicle group, an unmanned aerial vehicle group and a three-dimensional digital twin management and control system, and solving the problems of large personnel workload, poor safety, low overall efficiency, high implementation cost and high difficulty faced by the current three-dimensional modeling or model reconstruction.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. The three-dimensional modeling collaborative system for the surface mine is characterized by comprising an unmanned vehicle group, an unmanned aerial vehicle group and a three-dimensional digital twin management and control system, wherein the unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is loaded with an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles, the three-dimensional digital twin management and control system is used for generating a three-dimensional modeling or three-dimensional reconstruction total task and sending the three-dimensional modeling or three-dimensional reconstruction total task to the unmanned aerial vehicle, the unmanned aerial vehicle receives the total task generated by the three-dimensional digital twin management and control system and then sends the total task to the unmanned aerial vehicle loaded by the unmanned aerial vehicle, after the unmanned aerial vehicle receives the task, the unmanned aerial vehicle judges whether the task can be completed and executed, the unmanned aerial vehicle in which the task is located is fed back by the unmanned aerial vehicle, the unmanned aerial vehicle receives and processes feedback information of the unmanned aerial vehicle, judges whether the task is completed or not, and performs three-dimensional modeling or three-dimensional reconstruction according to the acquisition information fed back by the unmanned aerial vehicle.
2. The surface mine three-dimensional modeling collaborative system according to claim 1, wherein the drone is provided with a docking, charging, data transmission interface for the drone.
3. The three-dimensional modeling collaborative system according to claim 1, wherein each unmanned vehicle comprises a task generation module, a path planning module, an unmanned vehicle communication module, an unmanned vehicle management module, an information storage module and a three-dimensional modeling module, the three-dimensional digital twin management and control system issues a total task to the unmanned vehicle management module, the unmanned vehicle management module sends the total task to the task generation module, and the task generation module automatically breaks down the total task into N subtasks.
4. The three-dimensional modeling collaborative system according to claim 3, wherein the task generation module further decomposes a subtask into N x M subtasks based on a scale of the subtask and a completion of the subtask.
5. The surface mine three-dimensional modeling collaborative system according to claim 3 or 4, wherein the drone issues subtasks or subtasks to related drones through a drone management module and a drone communication module, the path planning module is responsible for planning flight paths for the subtasks or subtasks, and the path planning data is contained in a total task issued to the drone by a three-dimensional digital twin management and control system.
6. The surface mine three-dimensional modeling collaborative system according to claim 3 or 4, wherein the information storage module is configured to store collected information fed back by an unmanned aerial vehicle group, and the three-dimensional modeling module is configured to perform mine three-dimensional modeling or three-dimensional reconstruction according to the collected information fed back by the unmanned aerial vehicle.
7. The three-dimensional modeling collaborative system for the surface mine according to claim 1, wherein each unmanned aerial vehicle comprises a task execution module, a collection storage module, an unmanned aerial vehicle communication module and an unmanned aerial vehicle management module, wherein the unmanned aerial vehicle receives tasks issued by unmanned aerial vehicles through the unmanned aerial vehicle communication module and the unmanned aerial vehicle management module, judges whether the tasks can be completed, and if the tasks can not be completed, directly feeds back the tasks which cannot be distributed to the corresponding unmanned aerial vehicles; if the modeling can be completed, executing the task through the task execution module, and calling the acquisition storage module to acquire and store information required by the modeling.
8. The surface mine three-dimensional modeling collaboration system of claim 1, wherein the drone flies back to the drone after each execution of the assigned task, and automatically charges according to its own power conditions to perform subsequent tasks assigned by the drone.
9. A three-dimensional modeling collaborative method for a surface mine, the method comprising the steps of:
generating one or more total tasks of three-dimensional modeling or three-dimensional reconstruction through a three-dimensional digital twin management and control system, and issuing the one or more total tasks to one or more unmanned vehicles in the unmanned vehicle group;
the unmanned aerial vehicle decomposes the received three-dimensional modeling or three-dimensional reconstruction total task into a plurality of subtasks, and issues the subtasks to relevant unmanned aerial vehicles in the unmanned aerial vehicle group carried by the unmanned aerial vehicle;
the unmanned aerial vehicle receives a task issued by the unmanned aerial vehicle, judges whether the task can be completed and executed, and feeds back acquired information to the unmanned aerial vehicle after the task is executed;
the unmanned aerial vehicle receives and processes feedback information of the unmanned aerial vehicle, judges whether a task is completed, and performs three-dimensional modeling or three-dimensional reconstruction according to the acquired information fed back by the unmanned aerial vehicle;
the unmanned aerial vehicle returns to the unmanned aerial vehicle after the assigned tasks are executed.
10. The surface mine three-dimensional modeling collaborative method according to claim 9, wherein the unmanned aerial vehicle further decomposes the subtask into a plurality of subtasks according to the scale of the subtask and the completion condition of the subtask, and issues the subtask to the relevant unmanned aerial vehicle in the unmanned aerial vehicle group.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117824660A (en) * | 2024-02-29 | 2024-04-05 | 山东捷瑞数字科技股份有限公司 | Mine route planning method, device, equipment and medium based on digital twinning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117824660A (en) * | 2024-02-29 | 2024-04-05 | 山东捷瑞数字科技股份有限公司 | Mine route planning method, device, equipment and medium based on digital twinning |
| CN117824660B (en) * | 2024-02-29 | 2024-05-10 | 山东捷瑞数字科技股份有限公司 | Mine route planning method, device, equipment and medium based on digital twinning |
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