AU2021106502A4 - A Blasting Pile Measurement And Statistics Method For Open-pit Mines Based On UAV Technology - Google Patents
A Blasting Pile Measurement And Statistics Method For Open-pit Mines Based On UAV Technology Download PDFInfo
- Publication number
- AU2021106502A4 AU2021106502A4 AU2021106502A AU2021106502A AU2021106502A4 AU 2021106502 A4 AU2021106502 A4 AU 2021106502A4 AU 2021106502 A AU2021106502 A AU 2021106502A AU 2021106502 A AU2021106502 A AU 2021106502A AU 2021106502 A4 AU2021106502 A4 AU 2021106502A4
- Authority
- AU
- Australia
- Prior art keywords
- measurement
- area
- blasting
- images
- uav
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 238000005422 blasting Methods 0.000 title claims abstract description 65
- 238000005259 measurement Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005516 engineering process Methods 0.000 title claims abstract description 21
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000008676 import Effects 0.000 claims abstract description 7
- 239000011435 rock Substances 0.000 claims description 11
- 238000009826 distribution Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000000691 measurement method Methods 0.000 description 5
- 239000003245 coal Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0008—Industrial image inspection checking presence/absence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
-
- G06T5/70—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
ADstracy
The invention discloses a blasting pile measurement and statistics method for open-pit
mines based on UAV technology, which comprises the following steps: A. Divide the blasting
pile site according to a certain area, keep the divided areas on the same horizontal plane as much
as possible, and mark them with a certain width of white coils, and place a same reference object
in each area; B. Use the lift UAV to shoot the divided areas for many times, clip and splice the
captured images to obtain a panoramic view of each area; C. Import the images of each area into
matlab, write the related programs combined with image processing technology, calculate the
size of the lumpiness and quantity of each area, and integrate the images of all areas to complete
the measurement and statistics of the entire blasting pile. The method of the invention is simple
and practicable, has higher accuracy than the previous blasting pile measurement and statistics
method, is suitable for the step loosening and blasting control in open-pit mines, and can provide
a basis for further optimizing the blasting parameters.
drawings o uescripuons
Figure 1
h eL
Figure 2
1/)
Description
ADstracy
The invention discloses a blasting pile measurement and statistics method for open-pit
mines based on UAV technology, which comprises the following steps: A. Divide the blasting
pile site according to a certain area, keep the divided areas on the same horizontal plane as much as possible, and mark them with a certain width of white coils, and place a same reference object in each area; B. Use the lift UAV to shoot the divided areas for many times, clip and splice the
captured images to obtain a panoramic view of each area; C. Import the images of each area into matlab, write the related programs combined with image processing technology, calculate the size of the lumpiness and quantity of each area, and integrate the images of all areas to complete the measurement and statistics of the entire blasting pile. The method of the invention is simple
and practicable, has higher accuracy than the previous blasting pile measurement and statistics method, is suitable for the step loosening and blasting control in open-pit mines, and can provide a basis for further optimizing the blasting parameters.
drawings o uescripuons
Figure 1
h eL
Figure 2
1/) ueseriptions
A Blasting Pile Measurement and Statistics Method for Open-pit Mines Based
on UAV Technology
Technical Field
[00011 The invention relates to the technical field of blasting lumpiness identification, measurement and statistics for open-pit mines, in particular to a blasting pile measurement and statistics method for open-pit mines based on UAV technology.
Background Technology
[00021 Blasting loosening mining is one of the important methods for high-efficiency mining in open-pit coal mines, and the size of the lumpiness after blasting is an important index to evaluate the blasting effect and further optimize the blasting parameters. All methods for testing the lumpiness distribution of blasting pile can be divided into two categories. One is the direct measurement method, and the other is the indirect measurement method. The so-called direct measurement method refers to the test on the coal rock pile itself or the coal rock sample. For example, screening method and counting the number of coal rocks in secondary blasting. The characteristic of the indirect method is to record the information in a certain way without affecting the production, and then analyze the lumpiness in other places. For example, measuring related data, photogrammetry and fractal testing methods.
[00031 The current measurement methods mainly have the following problems:
[00041 (1) The step loosening blasting pile has the characteristics of long distribution along the direction, a large volume of blasting pile, uneven lumpiness distribution and irregular surface of blasting pile. The use of manual direct measurement and statistics is time-consuming and arduous, which not only has high risk of measurement, but also has large errors in the measurement results.
[00051 (2) Currently, the existing indirect measurement method is to first take pictures manually, and then measure and count the blasting pile indoors. However, the area of the blasting pile is large, the manual shooting time is long, and it is difficult to ensure the reasonable marking requirements of the reference object, and some even have no reference object. In addition, it is difficult to ensure that the camera is perpendicular to the shooting area at any time during manual shooting, and the height remains unchanged, which makes ueseriptions the projection zoom ratio of the local blasting pile size inconsistent.
[00061 (3) When image processing, some software simply rely on image processing to
outline the edge, and a large number of false points appear. In addition, many software only performed a recognition and gave the blasting pile measurement and statistical results, and have not compared the actual captured images. Due to various reasons, the accuracy of the
blasting pile measurement and statistical results is low.
Summary of the Invention
[00071 The purpose of the invention is to provide a blasting pile measurement and
statistics method for open-pit mines based on UAV technology, so as to solve the problems
raised in the above background art.
[0008] In order to achieve the above purpose, the invention provides the following technical solutions: a blasting pile measurement and statistics method for open-pit mines based on UAV technology, which comprises the following steps:
[0009] A. Divide the blasting pile site according to a certain area, keep the divided areas on the same horizontal plane as much as possible, and mark them with a certain width of white
coils, and place a same reference object in each area;
[0010] B. Use the lift UAV to shoot the divided areas for many times, clip and splice the
captured images to obtain a panoramic view of each area;
[0011] C. Import the images of each area into matlab, write the related programs combined with image processing technology, calculate the size of the lumpiness and quantity of each area, and integrate the images of all areas to complete the measurement and statistics of the entire blasting pile.
[0012] Preferably, the specific operations of the Step C are as follows:
[0013] a. Import the on-site images into matlab, and perform adaptive grayscale adjustment, histogram equalization, grayscale processing and filtering and desiccation
operations on the images;
[0014] b. Determine the boundary line of the rock, binarize the images, and use the
corresponding function to remove the noise information in the images;
[0015] c. Take the size of the reference object as the standard, obtain the distribution characteristics of the blasting lumpiness within the shooting range, and complete the first ueseriptions identification;
[0016] d. Compare the processed image with the original captured image, perform a second recognition on the unrecognized part, and complete the lumpiness measurement of the part;
[0017] e. Integrate the results of the first recognition and the second recognition to obtain the lumpiness distribution characteristics of the entire image pickup area;
[0018] f. Integrate the lumpiness measurement of all images to complete the measurement and statistics of the entire blasting pile.
[0019] Preferably, when the UAV is shooting, the high-precision camera shoots perpendicular to the horizontal plane of the blasting pile, and when shooting the same area, the flight height of the UAV remains the same.
[0020] Preferably, the elevation coverage of the high-precision camera matched with the UAV is 0 °-45 0.
[0021] Compared with the prior art, the beneficial effects of the invention are as follows:
[0022] (1) The invention uses the UAV technology to pick up the images of the blasting pile, which reduces manual errors and improves the operation safety of workers.
[0023] (2) The invention adopts the UAV technology to greatly shorten the shooting time, has higher shooting definition, is not restricted by the position of the blasting pile area, and greatly improves the measurement and statistical efficiency of the entire blasting pile.
[0024] (3) Compared with the traditional blasting pile measurement and statistics method, the invention sets a reference object and performs a secondary identification, which greatly improves the accuracy of blasting pile measurement and statistics.
[0025] (4) The invention can accurately evaluate the blasting effect and provide a basis for further optimizing the blasting parameters.
Brief Description of Drawings
[00261 Figure 1 is an image picked up in an area of the blasting pile site;
[0027] Figure 2 is an image enhancement diagram implemented by the invention;
[0028] Figure 3 is a rock boundary diagram determined by the implementation of the invention;
[0029] Figure 4 is a binary image implemented by the invention;
[0030] Figure 5 is a diagram of rock recognition results implemented by the invention; ueseriptions
[0031] Figure 6 is a diagram of secondary recognition results implemented by the invention.
Detailed Description of the Presently Preferred Embodiments
[00321 The technical solutions in the embodiments of the invention will be described
distinctly and completely below in conjunction with the drawings in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all the embodiments. In view of the embodiments of the invention, all
other embodiments obtained by those ordinary technical personnel in the field without paying
any creative work shall belong to the protection scope of the invention.
[0033] The invention provides a technical solution: A blasting pile measurement and statistics method for open-pit mines based on UAV technology, and the specific steps are as follows:
[0034] A. Divide the blasting pile site according to a certain area, keep the divided areas on the same horizontal plane as much as possible, and mark them with a certain width of white
coils, and place a same reference object in each area, the embodiment selects the mining safety helmet as the reference object;
[0035] B. Use the lift UAV to shoot each divided area for 5-8 times. During each shooting, the high-precision camera is perpendicular to the divided blasting area, and the shooting height remains unchanged to ensure that the captured images cover all the delineated white
lines in the area, clip and splice the captured images to obtain a panoramic view of each area, the selected UAV can withstand the maximum wind force, maximum and minimum temperature in the shooting area, and the elevation coverage of the matched high-precision camera is 0 °-45 0;
[0036] C. Use the imread function to import the on-site images into matlab, refer to
Figure 1. Use the imadjust function to enhance the grayscale of the image, use the histeq function to equalize the image histogram, and use the medfilt2 function to perform medium filtering on the image to remove the noise and black spots in the image, refer to Figure 2 for the enhanced image;
[0037] Use the gradient amplitude as the partition function, use the Sobel edge hiding, Imfilter function and some simple algorithms to calculate the gradient amplitude. Refer to
Figure 3 for the obtained rock boundary line. Use the rock boundary line obtained above to ueseriptions separate the rock in the image, and then use the im2bw function to transform the grayscale image into a binary image, and use the bwareopen function to remove the small defects in the image, refer to Figure 4;
[0038] E. Take the size of the reference object as the standard to calibrate the size of the rock in the image. Use the bwconncomp function to identify the connected area in the image, refer to Figure 5 for the identified image. The one marked with a hexagram in the figure is the safety helmet. Complete the first identification;
[0039] F. Compare the processed image with the original captured image, perform a second recognition on the unrecognized part, and complete the lumpiness measurement of
the part, refer to Figure 6;
[0040] G. Integrate the results of the first recognition and the second recognition, use the regionprops function to count the attributes of the connected area, and then use the bar function to complete the blasting pile measurement and statistics.
[0041] Compared with the prior art, the beneficial effects of the invention are as follows:
[0042] (1) The invention uses the UAV technology to pick up the images of the blasting pile, which reduces manual errors and improves the operation safety of workers.
[0043] (2) The invention adopts the UAV technology to greatly shorten the shooting time, has higher shooting definition, is not restricted by the position of the blasting pile area, and greatly improves the measurement and statistical efficiency of the entire blasting pile.
[0044] (3) Compared with the traditional blasting pile measurement and statistics method, the invention sets a reference object and performs a secondary identification, which greatly improves the accuracy of blasting pile measurement and statistics.
[0045] (4) The invention can accurately evaluate the blasting effect and provide a basis for further optimizing the blasting parameters.
[0046] For those technical personnel in the field, it is obvious that the invention is not limited to the details of the above exemplary embodiments, and the invention can be realized in other specific forms without departing from the spirit or basic characteristics of the
invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the invention is restricted by the claims rather than the above descriptions. Therefore, it is intended to include all changes falling within the meaning and scope of the equivalent elements of the claims in the invention. Any drawing ueseriptions marks in the claims shall not be regarded as limiting the claims involved.
Claims (4)
1. A blasting pile measurement and statistics method for open-pit mines based on UAV technology, which is characterized in that: it comprises the following steps:
A. Divide the blasting pile site according to a certain area, keep the divided areas on the same horizontal plane as much as possible, and mark them with a certain width of white coils, and place a same reference object in each area;
B. Use the lift UAV to shoot the divided areas for many times, clip and splice the captured images to obtain a panoramic view of each area; C. Import the images of each area into matlab, write the related programs combined with image processing technology, calculate the size of the lumpiness and quantity of each area,
and integrate the images of all areas to complete the measurement and statistics of the entire blasting pile.
2. A blasting pile measurement and statistics method for open-pit mines based on UAV
technology as described in claim 1, which is characterized in that: the specific operations of the Step C are as follows: a. Import the on-site images into matlab, and perform adaptive grayscale adjustment, histogram equalization, grayscale processing and filtering and desiccation operations on the
images; b. Determine the boundary line of the rock, binarize the images, and use the corresponding function to remove the noise information in the images; c. Take the size of the reference object as the standard, obtain the distribution
characteristics of the blasting lumpiness within the shooting range, and complete the first identification; d. Compare the processed image with the original captured image, perform a second
recognition on the unrecognized part, and complete the lumpiness measurement of the part; e. Integrate the results of the first recognition and the second recognition to obtain the lumpiness distribution characteristics of the entire image pickup area; f. Integrate the lumpiness measurement of all images to complete the measurement and
statistics of the entire blasting pile.
3. A blasting pile measurement and statistics method for open-pit mines based on UAV technology as described in claim 1, which is characterized in that: when the UAV is shooting,
the high-precision camera shoots perpendicular to the horizontal plane of the blasting pile, and when shooting the same area, the flight height of the UAV remains the same.
t01alms
4. A blasting pile measurement and statistics method for open-pit mines based on UAV technology as described in claim 1, which is characterized in that: the elevation coverage of
the high-precision camera matched with the UAV is 0 -45 °.
2021106502 Drawings of Descriptions
Figure 1
Figure 2
1/3
2021106502 Drawings of Descriptions
Figure 3
Figure 4
2/3
2021106502 Drawings of Descriptions
Figure 5
Figure 6
3/3
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2021106502A AU2021106502A4 (en) | 2021-08-23 | 2021-08-23 | A Blasting Pile Measurement And Statistics Method For Open-pit Mines Based On UAV Technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2021106502A AU2021106502A4 (en) | 2021-08-23 | 2021-08-23 | A Blasting Pile Measurement And Statistics Method For Open-pit Mines Based On UAV Technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2021106502A4 true AU2021106502A4 (en) | 2021-11-04 |
Family
ID=78476661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2021106502A Ceased AU2021106502A4 (en) | 2021-08-23 | 2021-08-23 | A Blasting Pile Measurement And Statistics Method For Open-pit Mines Based On UAV Technology |
Country Status (1)
| Country | Link |
|---|---|
| AU (1) | AU2021106502A4 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114295046A (en) * | 2021-11-30 | 2022-04-08 | 宏大爆破工程集团有限责任公司 | Explosive pile form comprehensive evaluation method and system, electronic device and storage medium |
-
2021
- 2021-08-23 AU AU2021106502A patent/AU2021106502A4/en not_active Ceased
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114295046A (en) * | 2021-11-30 | 2022-04-08 | 宏大爆破工程集团有限责任公司 | Explosive pile form comprehensive evaluation method and system, electronic device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111950330B (en) | Pointer instrument indication detection method based on target detection | |
| CN108759973B (en) | Water level measuring method | |
| CN106295655B (en) | A kind of transmission line part extraction method for unmanned plane inspection image | |
| CN109325935B (en) | Power transmission line detection method based on unmanned aerial vehicle image | |
| CN110414341A (en) | A kind of Blasting In The Open Mining heap measurement statistical method based on unmanned air vehicle technique | |
| CN106408527A (en) | Automatic target scoring method based on video analysis | |
| CN107631782B (en) | Water level detection method based on Harris angular point detection | |
| CN104239899B (en) | A kind of power transmission line spacer recognition methods for unmanned plane inspection | |
| CN109741314A (en) | A kind of visible detection method and system of part | |
| CN104050446A (en) | Meter pointer image identification method based on pointer width character | |
| CN105513082A (en) | Method and device for identifying and counting number of rods in bundle | |
| AU2021106502A4 (en) | A Blasting Pile Measurement And Statistics Method For Open-pit Mines Based On UAV Technology | |
| CN103440629A (en) | Digital image processing method of video extensometer with automatic tracking laser marker | |
| WO2020093631A1 (en) | Antenna downtilt angle measurement method based on depth instance segmentation network | |
| CN108492306A (en) | A kind of X-type Angular Point Extracting Method based on image outline | |
| CN115841633A (en) | Power tower and power line associated correction power tower and power line detection method | |
| CN105405134A (en) | Camera calibration mark center coordinate extraction method | |
| CN105989600A (en) | Characteristic point distribution statistics-based power distribution network device appearance detection method and system | |
| CN114581760A (en) | Equipment fault detection method and system for machine room inspection | |
| CN114359251A (en) | Automatic identification method for concrete surface damage | |
| CN107239743B (en) | automatic detection method for scale mark reading based on projection method | |
| CN113657339A (en) | Instrument pointer counting and reading method and medium based on machine vision | |
| CN115597494B (en) | Precision detection method and system for prefabricated part preformed hole based on point cloud | |
| CN115880683B (en) | Urban waterlogging ponding intelligent water level detection method based on deep learning | |
| CN105740827B (en) | A kind of stop line detection and distance measuring method based on Fast Labeling connection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGI | Letters patent sealed or granted (innovation patent) | ||
| MK22 | Patent ceased section 143a(d), or expired - non payment of renewal fee or expiry |