CN109778942B - Strip mine electric shovel centering control system and method - Google Patents
Strip mine electric shovel centering control system and method Download PDFInfo
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- CN109778942B CN109778942B CN201910183473.2A CN201910183473A CN109778942B CN 109778942 B CN109778942 B CN 109778942B CN 201910183473 A CN201910183473 A CN 201910183473A CN 109778942 B CN109778942 B CN 109778942B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000003384 imaging method Methods 0.000 claims abstract description 18
- 239000003245 coal Substances 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 15
- 238000007599 discharging Methods 0.000 claims description 4
- 238000013135 deep learning Methods 0.000 abstract 1
- 238000011068 loading method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000002689 soil Substances 0.000 description 1
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Abstract
The system comprises a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket space positioning unit and an upper computer; the truck model recognition unit comprises a truck model recognition camera, a truck model database is built in the upper computer, a deep learning program is embedded in the upper computer, the truck parking position projection calibration unit comprises a projector and a projector position adjusting frame, and the electric shovel bucket space positioning unit comprises a three-dimensional imaging double CCD camera. The method comprises the following steps: the bucket moves to a blanking area; the truck enters a blanking area, a car hopper contour image is obtained through a car model recognition camera, and a car hopper pattern is obtained through image matching; adjusting the distance between the projector and the bucket, projecting a truck roof line and a truck rear wheel position calibration line through the projector, and stopping the truck according to the line; centering the truck with the bucket; the bucket is spatially positioned by the three-dimensional imaging double CCD cameras, and the contour line of the stockpile is identified by the deep learning training process, so that the coal charging efficiency is ensured to be maximized.
Description
Technical Field
The invention belongs to the technical field of strip mine mining, and particularly relates to a strip mine electric shovel centering control system and a strip mine electric shovel centering control method.
Background
For a large-scale surface mine adopting a single bucket-truck process, the electric shovel is main production equipment, the efficiency of the electric shovel is high and low, the mining and loading cost is influenced, and meanwhile, the production cost of the explosion-penetrating, transporting and soil discharging links is also influenced. The factors influencing the efficiency of the electric shovel are numerous, and part of factors and factors are also mutually influenced, and main influencing factors comprise the matching of the electric shovel, the loading mode, the working face parameters, the management system and the like.
The cycle time for loading an electric shovel with a bucket includes dig time, heavy load swing time, unload time, and idle swing time. Practices have shown that regardless of the loading and truck loading method, the unloading time is very large in the total loading time specific weight of the electric shovel, and sometimes even 2-3 truck loading operations are required.
Currently, some surface mines are attempting to implement truck positioning using new technologies, including truck positioning based on photoelectric sensors or light reflection principles, truck positioning using GPS technology, laser scanning ranging technology, and the like.
However, the truck positioning by adopting the novel technologies can not effectively solve the problems of accurate positioning, truck deviation and the like all the time, and can not really guide the electric shovel lifting appliance to perform quick and accurate operation.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the strip mine electric shovel centering control system and the strip mine electric shovel centering control method, which can effectively solve the problems of accurate positioning, truck deviation and the like, can guide an electric shovel lifting tool to perform quick and accurate operation, furthest exert the use efficiency of an excavator and a truck, reduce the non-production residence time and have important significance for improving the economic benefit.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a strip mine electric shovel centering control system comprises a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket space positioning unit and an upper computer; the truck type recognition unit comprises a truck type recognition camera, wherein the truck type recognition camera is positioned above the electric shovel bucket, and the contour image of the truck bucket is obtained through the truck type recognition camera; a truck model database is built in the upper computer, the truck hopper contour image acquired by the truck model recognition camera is used for carrying out image matching with the truck model database, and the actual model of the truck hopper is obtained through the image matching process; the truck parking position projection calibration unit comprises a projector and a projector position adjustment frame, the projector position adjustment frame is arranged on the electric shovel cantilever, the projector is arranged on the projector position adjustment frame, a truck roof line and a truck rear wheel position calibration line are projected on the ground through the projector, and a truck driver adjusts the position of the truck according to the truck roof line and the truck rear wheel position calibration line; the electric shovel bucket space positioning unit comprises a three-dimensional imaging double CCD camera, the three-dimensional imaging double CCD camera is arranged below a crown wheel at the top of an electric shovel cantilever, and the space position of the electric shovel bucket is positioned in real time through the three-dimensional imaging double CCD camera; the upper computer is embedded with a deep learning program, a material pile contour line in the truck hopper is identified through a training process of the deep learning program, the blanking position of the electric shovel bucket is judged by utilizing the relative position relation between the current material pile contour line and the truck hopper, and an electric shovel driver controls the electric shovel bucket to move according to a judging result; and a display screen is arranged in the electric shovel cab, and the images acquired by the three-dimensional imaging double CCD cameras are transmitted to the display screen in real time, and the real-time positions of the electric shovel bucket and the truck are displayed in real time through the display screen.
The strip mine electric shovel centering control method adopts the strip mine electric shovel centering control system and comprises the following steps:
step one: the electric shovel bucket is controlled to finish the coal shoveling action, and then the electric shovel bucket which finishes the coal shoveling action is moved to a blanking area;
step two: driving a truck into a blanking area, acquiring a contour image of a truck hopper through a truck type recognition camera, and performing image matching on the acquired contour image of the truck hopper and a truck type database until an actual model of the truck hopper is acquired;
step three: automatically adjusting the distance between the projector and the electric shovel bucket, projecting a truck roof line and a truck rear wheel position calibration line on the ground through the projector, and guiding a truck driver to stop the truck according to the line;
step four: during the on-line truck parking process, the truck driver needs to continuously adjust the truck position until the center line of the truck remains centered with the rotation axis of the electric shovel bucket;
step five: the space position of the electric shovel bucket is positioned in real time through the three-dimensional imaging double CCD camera, so that coal materials in the electric shovel bucket can fall onto the central line of the truck;
step six: identifying a material pile contour line in a truck hopper through a training process of a deep learning program, judging a blanking position of the electric shovel bucket by utilizing the relative position relation between the current material pile contour line and the truck hopper, and controlling the electric shovel bucket to move by an electric shovel driver according to a judging result so as to ensure the maximization of coal charging efficiency;
step seven: and after the electric shovel bucket finishes discharging, the truck is driven out of the blanking area.
The invention has the beneficial effects that:
the strip mine electric shovel centering control system and the strip mine electric shovel centering control method can effectively solve the problems of accurate positioning, truck deviation and the like, can guide the electric shovel lifting tool to perform quick and accurate operation, furthest exert the use efficiency of the excavator and the truck, reduce the non-production residence time and have important significance for improving the economic benefit.
Drawings
FIG. 1 is a schematic diagram of a strip mine electric shovel centering control system according to the present invention;
in the figure, a bucket of a 1-electric shovel, a bucket of a 2-truck, a 3-projector, a cantilever of a 4-electric shovel, a 5-three-dimensional imaging double CCD camera and a 6-head sheave.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
As shown in FIG. 1, the strip mine electric shovel centering control system comprises a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket space positioning unit and an upper computer; the truck type recognition unit comprises a truck type recognition camera, wherein the truck type recognition camera is positioned above the electric shovel bucket 1, and the contour image of the truck hopper 2 is obtained through the truck type recognition camera; a truck type database is built in the upper computer, the contour image of the truck hopper 2 acquired by the truck type recognition camera is used for carrying out image matching with the truck type database, and the actual style of the truck hopper 2 is obtained through the image matching process; the truck parking position projection calibration unit comprises a projector 3 and a projector position adjustment frame, wherein the projector position adjustment frame is arranged on an electric shovel cantilever 4, the projector 3 is arranged on the projector position adjustment frame, a truck roof line and a truck rear wheel position calibration line are projected on the ground through the projector 3, and a truck driver adjusts the position of the truck according to the truck roof line and the truck rear wheel position calibration line; the electric shovel bucket space positioning unit comprises a three-dimensional imaging double CCD camera 5, wherein the three-dimensional imaging double CCD camera 5 is arranged below a crown wheel 6 at the top of an electric shovel cantilever 4, and the space position of the electric shovel bucket 1 is positioned in real time through the three-dimensional imaging double CCD camera 5; a deep learning program is embedded in the upper computer, a material pile contour line in the truck hopper 2 is identified through a training process of the deep learning program, the blanking position of the electric shovel bucket 1 is judged by utilizing the relative position relation between the current material pile contour line and the truck hopper 2, and an electric shovel driver controls the electric shovel bucket 1 to move according to a judging result; the display screen is arranged in the electric shovel cab, the images acquired by the three-dimensional imaging double CCD cameras 5 are transmitted to the display screen in real time, and the real-time positions of the electric shovel bucket 1 and the truck are displayed in real time through the display screen.
The strip mine electric shovel centering control method adopts the strip mine electric shovel centering control system and comprises the following steps:
step one: the electric shovel bucket 1 is controlled to finish the coal shoveling action, and then the electric shovel bucket 1 which finishes the coal shoveling action is moved to a blanking area;
step two: driving a truck into a blanking area, acquiring a contour image of a truck hopper 2 through a truck type recognition camera, and performing image matching on the acquired contour image of the truck hopper 2 and a truck type database until an actual model of the truck hopper 2 is acquired;
step three: automatically adjusting the distance between the projector 3 and the electric shovel bucket 1, projecting a truck roof line and a truck rear wheel position marking line on the ground through the projector 3, and guiding a truck driver to stop the truck according to the line;
step four: during the on-line truck parking process, the truck driver needs to constantly adjust the truck position until the center line of the truck remains centered with the axis of rotation of the electric shovel bucket 1;
step five: the space position of the electric shovel bucket 1 is positioned in real time through the three-dimensional imaging double CCD cameras 5, so that coal materials in the electric shovel bucket 1 can fall onto the central line of a truck; in order to make the coal fall onto the central line of the truck as much as possible, a coordinate system can be established, and the position of the central line of the truck can be judged by the established coordinate system, because the centering state of the rotation axis of the electric shovel bucket 1 and the central line of the truck is kept unchanged in the unloading process of the electric shovel bucket 1, the rotation axis of the electric shovel bucket 1 can be taken as a reference, and a space coordinate system can be established, so that the positions of all points on the central line of the truck hopper 2 in the space coordinate system can be easily determined;
step six: identifying a material pile contour line in the truck hopper 2 through a training process of a deep learning program, judging a blanking position of the electric shovel bucket 1 by utilizing the relative position relation between the current material pile contour line and the truck hopper 2, and controlling the electric shovel bucket 1 to move by an electric shovel driver according to a judging result so as to ensure the maximization of coal charging efficiency;
step seven: when the electric shovel bucket 1 has completed discharging, the truck is driven out of the blanking area.
The embodiments are not intended to limit the scope of the invention, but rather are intended to cover all equivalent implementations or modifications that can be made without departing from the scope of the invention.
Claims (2)
1. The utility model provides a strip mine electric shovel centering control system which characterized in that: the system comprises a truck model identification unit, a truck parking position projection calibration unit, an electric shovel bucket space positioning unit and an upper computer; the truck type recognition unit comprises a truck type recognition camera, wherein the truck type recognition camera is positioned above the electric shovel bucket, and the contour image of the truck bucket is obtained through the truck type recognition camera; a truck model database is built in the upper computer, the truck hopper contour image acquired by the truck model recognition camera is used for carrying out image matching with the truck model database, and the actual model of the truck hopper is obtained through the image matching process; the truck parking position projection calibration unit comprises a projector and a projector position adjustment frame, the projector position adjustment frame is arranged on the electric shovel cantilever, the projector is arranged on the projector position adjustment frame, a truck roof line and a truck rear wheel position calibration line are projected on the ground through the projector, and a truck driver adjusts the position of the truck according to the truck roof line and the truck rear wheel position calibration line; the electric shovel bucket space positioning unit comprises a three-dimensional imaging double CCD camera, the three-dimensional imaging double CCD camera is arranged below a crown wheel at the top of an electric shovel cantilever, and the space position of the electric shovel bucket is positioned in real time through the three-dimensional imaging double CCD camera; the upper computer is embedded with a deep learning program, a material pile contour line in the truck hopper is identified through a training process of the deep learning program, the blanking position of the electric shovel bucket is judged by utilizing the relative position relation between the current material pile contour line and the truck hopper, and an electric shovel driver controls the electric shovel bucket to move according to a judging result; and a display screen is arranged in the electric shovel cab, and the images acquired by the three-dimensional imaging double CCD cameras are transmitted to the display screen in real time, and the real-time positions of the electric shovel bucket and the truck are displayed in real time through the display screen.
2. A strip mine electric shovel centering control method, which adopts the strip mine electric shovel centering control system as claimed in claim 1, and is characterized by comprising the following steps:
step one: the electric shovel bucket is controlled to finish the coal shoveling action, and then the electric shovel bucket which finishes the coal shoveling action is moved to a blanking area;
step two: driving a truck into a blanking area, acquiring a contour image of a truck hopper through a truck type recognition camera, and performing image matching on the acquired contour image of the truck hopper and a truck type database until an actual model of the truck hopper is acquired;
step three: automatically adjusting the distance between the projector and the electric shovel bucket, projecting a truck roof line and a truck rear wheel position calibration line on the ground through the projector, and guiding a truck driver to stop the truck according to the line;
step four: during the on-line truck parking process, the truck driver needs to continuously adjust the truck position until the center line of the truck remains centered with the rotation axis of the electric shovel bucket;
step five: the space position of the electric shovel bucket is positioned in real time through the three-dimensional imaging double CCD camera, so that coal materials in the electric shovel bucket can fall onto the central line of the truck;
step six: identifying a material pile contour line in a truck hopper through a training process of a deep learning program, judging a blanking position of the electric shovel bucket by utilizing the relative position relation between the current material pile contour line and the truck hopper, and controlling the electric shovel bucket to move by an electric shovel driver according to a judging result so as to ensure the maximization of coal charging efficiency;
step seven: and after the electric shovel bucket finishes discharging, the truck is driven out of the blanking area.
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| CN110909599A (en) * | 2019-10-16 | 2020-03-24 | 北京文安智能技术股份有限公司 | Detection method, device and system for covering of muck truck |
| CN111188617B (en) * | 2020-01-16 | 2021-05-14 | 鞍钢集团矿业有限公司 | Automatic open pit electric shovel loading counting method based on double positioning modules |
| CN112942459B (en) * | 2021-03-22 | 2022-05-13 | 北京航空航天大学 | Intelligent electric shovel unmanned unloading and loading system and method |
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Application publication date: 20190521 Assignee: Dongfang yuyang Information Technology (Beijing) Co.,Ltd. Assignor: LIAONING TECHNICAL University Contract record no.: X2024980007220 Denomination of invention: A center control system and method for open-pit mining electric shovel Granted publication date: 20230516 License type: Common License Record date: 20240617 |
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