CN111176326A - Open-cast mining blasting hole distribution method and device based on unmanned aerial vehicle - Google Patents
Open-cast mining blasting hole distribution method and device based on unmanned aerial vehicle Download PDFInfo
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- CN111176326A CN111176326A CN202010012383.XA CN202010012383A CN111176326A CN 111176326 A CN111176326 A CN 111176326A CN 202010012383 A CN202010012383 A CN 202010012383A CN 111176326 A CN111176326 A CN 111176326A
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Abstract
The invention relates to an unmanned aerial vehicle-based open-pit mining blasting hole distribution method, which is used for automatically calibrating an open-pit mining blasting hole drilling position, reducing manual operation of a blasting operation area and simultaneously improving the operation efficiency and construction safety of the blasting operation area, and comprises the following steps: the unmanned aerial vehicle collects three-dimensional coordinate values of all points in an open-pit mining blasting operation area; the control module draws the three-dimensional coordinate values into a three-dimensional topographic map; a blasting expert sets blasting drilling points on the three-dimensional topographic map; the control module sends the two-dimensional coordinates of the blasting drilling point to the unmanned aerial vehicle; the unmanned aerial vehicle flies to the corresponding position of the two-dimensional coordinate of the blasting drilling point horizontally at a first height; the height of the unmanned aerial vehicle is vertically reduced until the distance between the unmanned aerial vehicle and the ground is a second height; the unmanned aerial vehicle vertically downwards sprays the markers; the unmanned aerial vehicle vertical lift height is to first height.
Description
Technical Field
The invention relates to an open-pit mining blasting hole distribution method and device based on an unmanned aerial vehicle, and belongs to the field of Internet of things.
Background
Unmanned aerial vehicles have demonstrated unique technical advantages in the fields of low-altitude photography, rapid article transfer, on-site reconnaissance, and the like. In recent years, the unmanned aerial vehicle has primary application in mines, is mainly applied to telemetering below cloud layers, and does not need too large area in the process of taking advantage of the rising and landing of the unmanned aerial vehicle; the carrying is easy; the method has the unique advantages of safety, reliability and the like in the operation process, and serves the supervision and management of management departments of environment, resources and the like. In the mine production link, the application of the unmanned aerial vehicle is still to be expanded.
Traditional opencut mining blasting cloth hole mainly adopts the method of manual measurement, leads to having a large amount of manual works to exist in opencut mining blasting operation area, and the precision and the accuracy of manual measurement also are difficult to manage and control moreover, often need carry out the on-the-spot check of blasting cloth hole, just can ensure blasting quality. With the increasing requirements for environmental protection, the mine blasting operation also faces the problems of how to improve the blasting efficiency and reduce the usage amount of explosives. Along with the industrial upgrading, the mine operation also needs to depend on the technology in the field of the Internet of things, and gradually develops towards the direction of no humanization or less humanization and intellectualization, so that the mine operation efficiency is improved, and the safety risk of the mine operation is reduced.
Disclosure of Invention
The invention aims at solving the problems in the prior art, namely, the invention aims to provide an unmanned aerial vehicle-based method and device for open-pit mining blasting hole distribution.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides an open-pit mining blasting cloth hole method based on unmanned aerial vehicle for the automatic demarcation of open-pit mining blasting drilling position reduces the manual work in blasting operation area, improves the operating efficiency and the construction safety in blasting operation area simultaneously, includes:
s101: the unmanned aerial vehicle collects three-dimensional coordinate values of all points in an open-pit mining blasting operation area;
s102: the control module draws the three-dimensional coordinate values into a three-dimensional topographic map;
s103: a blasting expert sets blasting drilling points on the three-dimensional topographic map;
s104: the control module sends the two-dimensional coordinates of the blasting drilling point to the unmanned aerial vehicle;
s105: the unmanned aerial vehicle flies to the corresponding position of the two-dimensional coordinate of the blasting drilling point horizontally at a first height;
s106: the height of the unmanned aerial vehicle is vertically reduced until the distance between the unmanned aerial vehicle and the ground is a second height;
s107: the unmanned aerial vehicle vertically downwards sprays the markers;
s108: vertically lifting the unmanned aerial vehicle to a first height;
s109: judging whether the last blasting drilling point exists; if yes, ending; if not, the process returns to S104.
Unmanned aerial vehicle gathers the three-dimensional coordinate value of open-cast mining blasting operation area each point, still includes:
the unmanned aerial vehicle flies horizontally according to a specified path at a first height above a surface mining blasting operation area, three-dimensional coordinate values (x, y, z) are acquired point by point, and two-dimensional coordinate values (x, y) and z in the three-dimensional coordinate values (x, y, z) are acquired separately,
a plurality of base stations are arranged around the open-pit mining blasting operation area, the positions of the base stations are all fixed in the whole process of automatic calibration of the open-pit mining blasting drilling position,
setting the position coordinates of all base stations in the two-dimensional plane in an unmanned aerial vehicle computing unit by taking the position of one base station as a zero point (0,0) of the two-dimensional coordinate plane,
during the flight process of the unmanned aerial vehicle at the first height above the surface mining blasting operation area, a second communication module of the unmanned aerial vehicle communicates with each base station in real time to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, an unmanned aerial vehicle calculation unit calculates two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane by combining the obtained signal intensity values with the coordinate positions of the base stations set in the unmanned aerial vehicle calculation unit in the two-dimensional plane,
the scanning distance measuring module of the unmanned aerial vehicle measures the distance between the unmanned aerial vehicle and the ground at each measuring position as a z value in three-dimensional coordinate values (x, y, z) of the point,
the unmanned aerial vehicle control unit combines the two coordinate values to form a three-dimensional coordinate value (x, y, z) of each point, and then the three-dimensional coordinate value is sent to the base station through a second communication module of the unmanned aerial vehicle, and the base station is further sent to the control module.
Control module sends the two-dimensional coordinate of blasting drilling point for unmanned aerial vehicle to and unmanned aerial vehicle flies to the two-dimensional coordinate of blasting drilling point at first height level and corresponds the position, still includes:
after blasting experts set blasting drilling points on the three-dimensional topographic map, the control module sends two-dimensional coordinates of the blasting drilling points to a second communication module of the unmanned aerial vehicle one by one through the base station, the second communication module sends the two-dimensional coordinates of the blasting drilling points to the unmanned aerial vehicle control unit,
the control unit controls the unmanned aerial vehicle to fly to a target two-dimensional coordinate point horizontally at a first height above an open mining blasting operation area through the unmanned aerial vehicle flight power module, the control unit obtains a two-dimensional coordinate value (x, y) of the position of the unmanned aerial vehicle in real time through the unmanned aerial vehicle calculation unit in the flight process, the two-dimensional coordinate value of the position is compared with the coordinate of the target two-dimensional coordinate point, and a real-time flight vector value is obtained until the unmanned aerial vehicle reaches the target two-dimensional coordinate point.
Unmanned aerial vehicle vertical reduction height, to and the interval between the ground be the second height, still include: unmanned aerial vehicle control unit passes through unmanned aerial vehicle flight power module control unmanned aerial vehicle and reduces the height, and unmanned aerial vehicle's scanning range finding module all measures the distance between unmanned aerial vehicle and the ground in each position of flight in-process, and the control unit carries out the comparison with the actual height value in unmanned aerial vehicle place and target second altitude at the flight in-process, acquires real-time difference in height, and the interval to and between the ground is the second height, and unmanned aerial vehicle stops altitude variation.
The blasting expert is a human or a computer program.
The unmanned aerial vehicle sprays the marker vertically downwards, and further comprises: unmanned aerial vehicle's spray gun module sets up in unmanned aerial vehicle's below, the export of spray gun module is towards ground, the screw motor of control unit control spray gun module is processd forward, promotes the piston of spray gun module and moves forward to spray the mark liquid in the spray gun module to ground from the export.
The utility model provides an opencut mining blasting cloth hole device based on unmanned aerial vehicle for opencut mining blasting drilling position's automatic demarcation reduces blasting operation area's manual work, improves blasting operation area's operating efficiency and construction safety simultaneously, opencut mining blasting cloth hole device based on unmanned aerial vehicle is provided with basic station, unmanned aerial vehicle, control module, the basic station is provided with communication module, be provided with a plurality of basic station around opencut mining blasting operation area, the automatic demarcation in-process of opencut mining blasting drilling position the rigidity of basic station, unmanned aerial vehicle is provided with flight power module, frame, scanning ranging module, spray gun module, unmanned aerial vehicle control unit, computational unit, second communication module, scanning ranging module, spray gun module set up in the downside of unmanned aerial vehicle frame, the spray gun module is provided with screw motor, The spray gun module comprises a piston, a liquid storage tank and an outlet, wherein the outlet of the spray gun module faces the ground, the scanning and ranging module faces the ground, and the control unit can control a screw motor of the spray gun module to advance to push the piston of the spray gun module to move forwards so as to spray the marking liquid in the spray gun module to the ground from the outlet.
The unmanned aerial vehicle control unit is provided with input interface and output interface, scanning range finding module is provided with output interface, scanning range finding module's output interface and unmanned aerial vehicle control unit input interface connection, the flight control unit is provided with input interface, flight control unit input interface and unmanned aerial vehicle control unit output interface connection, communicate through the wireless communication mode between second communication module and the communication module, the output port of calculation unit is connected with the input port of control unit, and screw motor's input port is connected with the output port of control unit, and the input of second communication module and output port are connected with the output port and the input port of control unit respectively.
The flight power module is provided with screw, drive arrangement, battery module, flight control unit, the screw set up in the top of frame, drive arrangement, battery module, flight control unit all install in the frame.
The unmanned aerial vehicle can fly horizontally according to a specified path at a first height above a surface mining blasting operation area, and acquire three-dimensional coordinate values (x, y, z) point by point, wherein two-dimensional coordinate values (x, y) and z values in the three-dimensional coordinate values (x, y, z) are acquired separately,
a plurality of base stations are arranged around the open-pit mining blasting operation area, the positions of the base stations are all fixed in the whole process of automatic calibration of the open-pit mining blasting drilling position,
setting the position coordinates of all base stations in the two-dimensional plane in an unmanned aerial vehicle computing unit by taking the position of one base station as a zero point (0,0) of the two-dimensional coordinate plane,
during the flight process of the unmanned aerial vehicle at the first height above the surface mining blasting operation area, a second communication module of the unmanned aerial vehicle communicates with each base station in real time to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, an unmanned aerial vehicle calculation unit calculates two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane by combining the obtained signal intensity values with the coordinate positions of the base stations set in the unmanned aerial vehicle calculation unit in the two-dimensional plane,
the scanning distance measuring module of the unmanned aerial vehicle measures the distance between the unmanned aerial vehicle and the ground at each measuring position as a z value in three-dimensional coordinate values (x, y, z) of the point,
the unmanned aerial vehicle control unit combines the two coordinate values to form a three-dimensional coordinate value (x, y, z) of each point, and then the three-dimensional coordinate value is sent to the base station through a second communication module of the unmanned aerial vehicle, and the base station is further sent to the control module.
The control module can send the two-dimensional coordinates of the blasting drilling points to the second communication module of the unmanned aerial vehicle one by one through the base station, the second communication module sends the two-dimensional coordinates of the blasting drilling points to the unmanned aerial vehicle control unit,
the control unit controls the unmanned aerial vehicle to fly to a target two-dimensional coordinate point horizontally at a first height above an open mining blasting operation area through the unmanned aerial vehicle flight power module, the control unit obtains a two-dimensional coordinate value (x, y) of the position of the unmanned aerial vehicle in real time through the unmanned aerial vehicle calculation unit in the flight process, the two-dimensional coordinate value of the position is compared with the coordinate of the target two-dimensional coordinate point, and a real-time flight vector value is obtained until the unmanned aerial vehicle reaches the target two-dimensional coordinate point.
The number of the base stations is not less than 3.
Compared with the prior art, the invention has the following beneficial effects: the unmanned aerial vehicle is adopted to carry out terrain acquisition and blasting hole distribution in a blasting operation area, so that the blasting hole distribution precision is high and manual operation is realized; workers do not need to enter a blasting operation area, so that the production safety is high; unmanned aerial vehicle operating efficiency is higher than many-sided advantages such as manual work.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a flow chart of an open-pit mining blasting hole distribution method based on an unmanned aerial vehicle according to an embodiment of the invention.
Detailed Description
The first embodiment is as follows: as shown in fig. 1, an open-pit mining blasting hole distribution method based on an unmanned aerial vehicle is used for automatic calibration of an open-pit mining blasting drilling position, reduces manual operation of a blasting operation area, and improves the operation efficiency and construction safety of the blasting operation area, and comprises the following steps:
s101: the unmanned aerial vehicle collects three-dimensional coordinate values of all points in an open-pit mining blasting operation area;
s102: the control module draws the three-dimensional coordinate values into a three-dimensional topographic map;
s103: a blasting expert sets blasting drilling points on the three-dimensional topographic map;
s104: the control module sends the two-dimensional coordinates of the blasting drilling point to the unmanned aerial vehicle;
s105: the unmanned aerial vehicle flies to the corresponding position of the two-dimensional coordinate of the blasting drilling point horizontally at a first height;
s106: the height of the unmanned aerial vehicle is vertically reduced until the distance between the unmanned aerial vehicle and the ground is a second height;
s107: the unmanned aerial vehicle vertically downwards sprays the markers;
s108: vertically lifting the unmanned aerial vehicle to a first height;
s109: judging whether the last blasting drilling point exists; if yes, ending; if not, the process returns to S104.
Unmanned aerial vehicle gathers the three-dimensional coordinate value of open-cast mining blasting operation area each point, still includes:
the unmanned aerial vehicle flies horizontally according to a specified path at a first height above a surface mining blasting operation area, three-dimensional coordinate values (x, y, z) are acquired point by point, and two-dimensional coordinate values (x, y) and z in the three-dimensional coordinate values (x, y, z) are acquired separately,
a plurality of base stations are arranged around the open-pit mining blasting operation area, the positions of the base stations are all fixed in the whole process of automatic calibration of the open-pit mining blasting drilling position,
setting the position coordinates of all base stations in the two-dimensional plane in an unmanned aerial vehicle computing unit by taking the position of one base station as a zero point (0,0) of the two-dimensional coordinate plane,
during the flight process of the unmanned aerial vehicle at the first height above the surface mining blasting operation area, a second communication module of the unmanned aerial vehicle communicates with each base station in real time to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, an unmanned aerial vehicle calculation unit calculates two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane by combining the obtained signal intensity values with the coordinate positions of the base stations set in the unmanned aerial vehicle calculation unit in the two-dimensional plane,
the scanning distance measuring module of the unmanned aerial vehicle measures the distance between the unmanned aerial vehicle and the ground at each measuring position as a z value in three-dimensional coordinate values (x, y, z) of the point,
the unmanned aerial vehicle control unit combines the two coordinate values to form a three-dimensional coordinate value (x, y, z) of each point, and then the three-dimensional coordinate value is sent to the base station through a second communication module of the unmanned aerial vehicle, and the base station is further sent to the control module.
Control module sends the two-dimensional coordinate of blasting drilling point for unmanned aerial vehicle to and unmanned aerial vehicle flies to the two-dimensional coordinate of blasting drilling point at first height level and corresponds the position, still includes:
after blasting experts set blasting drilling points on the three-dimensional topographic map, the control module sends two-dimensional coordinates of the blasting drilling points to a second communication module of the unmanned aerial vehicle one by one through the base station, the second communication module sends the two-dimensional coordinates of the blasting drilling points to the unmanned aerial vehicle control unit,
the control unit controls the unmanned aerial vehicle to fly to a target two-dimensional coordinate point horizontally at a first height above an open mining blasting operation area through the unmanned aerial vehicle flight power module, the control unit obtains a two-dimensional coordinate value (x, y) of the position of the unmanned aerial vehicle in real time through the unmanned aerial vehicle calculation unit in the flight process, the two-dimensional coordinate value of the position is compared with the coordinate of the target two-dimensional coordinate point, and a real-time flight vector value is obtained until the unmanned aerial vehicle reaches the target two-dimensional coordinate point.
Unmanned aerial vehicle vertical reduction height, to and the interval between the ground be the second height, still include: unmanned aerial vehicle control unit passes through unmanned aerial vehicle flight power module control unmanned aerial vehicle and reduces the height, and unmanned aerial vehicle's scanning range finding module all measures the distance between unmanned aerial vehicle and the ground in each position of flight in-process, and the control unit carries out the comparison with the actual height value in unmanned aerial vehicle place and target second altitude at the flight in-process, acquires real-time difference in height, and the interval to and between the ground is the second height, and unmanned aerial vehicle stops altitude variation.
The blasting expert is human. After the control module draws the three-dimensional coordinate value into a three-dimensional topographic map, a blasting expert designs blasting hole distribution points according to the topographic features, the blasting hole distribution points are marked on the three-dimensional coordinate map, and the control module generates two-dimensional coordinates of all blasting hole distribution positions according to the marked blasting hole distribution points.
The unmanned aerial vehicle sprays the marker vertically downwards, and further comprises:
unmanned aerial vehicle's spray gun module sets up in unmanned aerial vehicle's below, the export of spray gun module is towards ground, the screw motor of control unit control spray gun module is processd forward, promotes the piston of spray gun module and moves forward to spray the mark liquid in the spray gun module to ground from the export.
The utility model provides an opencut mining blasting cloth hole device based on unmanned aerial vehicle for opencut mining blasting drilling position's automatic demarcation reduces blasting operation area's manual work, improves blasting operation area's operating efficiency and construction safety simultaneously, opencut mining blasting cloth hole device based on unmanned aerial vehicle is provided with basic station, unmanned aerial vehicle, control module, the basic station is provided with communication module, be provided with a plurality of basic station around opencut mining blasting operation area, the automatic demarcation in-process of opencut mining blasting drilling position the rigidity of basic station, unmanned aerial vehicle is provided with flight power module, frame, scanning ranging module, spray gun module, unmanned aerial vehicle control unit, computational unit, second communication module, scanning ranging module, spray gun module set up in the downside of unmanned aerial vehicle frame, the spray gun module is provided with screw motor, The spray gun module comprises a piston, a liquid storage tank and an outlet, wherein the outlet of the spray gun module faces the ground, the marking liquid is contained in the liquid storage tank, the outlet and the piston are respectively arranged at two ends of the liquid storage tank, which correspond to each other, the scanning distance measuring module faces the ground, and the control unit can control a screw motor of the spray gun module to advance forwards to push the piston of the spray gun module to move forwards, so that the marking liquid in the spray gun module is sprayed to the ground from the outlet. The marking liquid is red paint.
The unmanned aerial vehicle control unit is provided with input interface and output interface, scanning range finding module is provided with output interface, scanning range finding module's output interface and unmanned aerial vehicle control unit input interface connection, the flight control unit is provided with input interface, flight control unit input interface and unmanned aerial vehicle control unit output interface connection, communicate through the wireless communication mode between second communication module and the communication module, the output port of calculation unit is connected with the input port of control unit, and screw motor's input port is connected with the output port of control unit, and the input of second communication module and output port are connected with the output port and the input port of control unit respectively.
The flight power module is provided with screw, drive arrangement, battery module, flight control unit, the screw set up in the top of frame, drive arrangement, battery module, flight control unit all install in the frame.
The unmanned aerial vehicle can fly horizontally according to a specified path at a first height above a surface mining blasting operation area, and acquire three-dimensional coordinate values (x, y, z) point by point, wherein two-dimensional coordinate values (x, y) and z values in the three-dimensional coordinate values (x, y, z) are acquired separately,
a plurality of base stations are arranged around the open-pit mining blasting operation area, the positions of the base stations are all fixed in the whole process of automatic calibration of the open-pit mining blasting drilling position,
setting the position coordinates of all base stations in the two-dimensional plane in an unmanned aerial vehicle computing unit by taking the position of one base station as a zero point (0,0) of the two-dimensional coordinate plane,
during the flight process of the unmanned aerial vehicle at the first height above the surface mining blasting operation area, a second communication module of the unmanned aerial vehicle communicates with each base station in real time to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, an unmanned aerial vehicle calculation unit calculates two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane by combining the obtained signal intensity values with the coordinate positions of the base stations set in the unmanned aerial vehicle calculation unit in the two-dimensional plane,
the scanning distance measuring module of the unmanned aerial vehicle measures the distance between the unmanned aerial vehicle and the ground at each measuring position as a z value in three-dimensional coordinate values (x, y, z) of the point,
the unmanned aerial vehicle control unit combines the two coordinate values to form a three-dimensional coordinate value (x, y, z) of each point, and then the three-dimensional coordinate value is sent to the base station through a second communication module of the unmanned aerial vehicle, and the base station is further sent to the control module.
The control module can send the two-dimensional coordinates of the blasting drilling points to the second communication module of the unmanned aerial vehicle one by one through the base station, the second communication module sends the two-dimensional coordinates of the blasting drilling points to the unmanned aerial vehicle control unit,
the control unit controls the unmanned aerial vehicle to fly to a target two-dimensional coordinate point horizontally at a first height above an open mining blasting operation area through the unmanned aerial vehicle flight power module, the control unit obtains a two-dimensional coordinate value (x, y) of the position of the unmanned aerial vehicle in real time through the unmanned aerial vehicle calculation unit in the flight process, the two-dimensional coordinate value of the position is compared with the coordinate of the target two-dimensional coordinate point, and a real-time flight vector value is obtained until the unmanned aerial vehicle reaches the target two-dimensional coordinate point.
The number of the base stations is 3.
Example two:
the blasting expert is a computer program, after the control module draws the three-dimensional coordinate value into a three-dimensional topographic map, the computer program carries out blasting hole distribution point design according to the three-dimensional topographic features, blasting hole distribution points are marked on the three-dimensional coordinate map, and the control module generates two-dimensional coordinates of all blasting hole distribution positions according to the marked blasting hole distribution points. The control module is stored with the computer program and is also provided with a computer module which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the computer program realizes the steps of the blasting hole distribution point design when being executed by the processor; the control module is further provided with a computer readable storage medium having stored thereon the computer program which, when executed by a processor, implements the steps of the blast hole distribution point design as described above
The number of the base stations is 4. The marking liquid is silicone oil inserted with red luminescent material.
The rest is the same as the first embodiment.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides an open-pit mining blasting cloth hole method based on unmanned aerial vehicle for the automatic demarcation of open-pit mining blasting drilling position reduces the manual work in blasting operation area, improves the operating efficiency and the construction safety in blasting operation area simultaneously, its characterized in that includes:
s101: the unmanned aerial vehicle collects three-dimensional coordinate values of all points in an open-pit mining blasting operation area;
s102: the control module draws the three-dimensional coordinate values into a three-dimensional topographic map;
s103: a blasting expert sets blasting drilling points on the three-dimensional topographic map;
s104: the control module sends the two-dimensional coordinates of the blasting drilling point to the unmanned aerial vehicle;
s105: the unmanned aerial vehicle flies to the corresponding position of the two-dimensional coordinate of the blasting drilling point horizontally at a first height;
s106: the height of the unmanned aerial vehicle is vertically reduced until the distance between the unmanned aerial vehicle and the ground is a second height;
s107: the unmanned aerial vehicle vertically downwards sprays the markers;
s108: vertically lifting the unmanned aerial vehicle to a first height;
s109: judging whether the last blasting drilling point exists; if yes, ending; if not, the process returns to S104.
2. The unmanned-aerial-vehicle-based opencast-mining-blasting hole-distribution method as defined in claim 1, wherein the unmanned aerial vehicle acquires three-dimensional coordinate values of points in an opencast-mining-blasting operation area, further comprising:
the unmanned aerial vehicle flies horizontally according to a specified path at a first height above a surface mining blasting operation area, three-dimensional coordinate values (x, y, z) are acquired point by point, and two-dimensional coordinate values (x, y) and z in the three-dimensional coordinate values (x, y, z) are acquired separately,
a plurality of base stations are arranged around the open-pit mining blasting operation area, the positions of the base stations are all fixed in the whole process of automatic calibration of the open-pit mining blasting drilling position,
setting the position coordinates of all base stations in the two-dimensional plane in an unmanned aerial vehicle computing unit by taking the position of one base station as a zero point (0,0) of the two-dimensional coordinate plane,
during the flight process of the unmanned aerial vehicle at the first height above the surface mining blasting operation area, a second communication module of the unmanned aerial vehicle communicates with each base station in real time to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, an unmanned aerial vehicle calculation unit calculates two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane by combining the obtained signal intensity values and setting the coordinate values in the two-dimensional plane of each base station in the unmanned aerial vehicle calculation unit,
the scanning distance measuring module of the unmanned aerial vehicle measures the distance between the unmanned aerial vehicle and the ground at each measuring position as a z value in three-dimensional coordinate values (x, y, z) of the point,
the unmanned aerial vehicle control unit combines the two parts of coordinate values to form three-dimensional coordinate values (x, y, z) of each point, and then the three-dimensional coordinate values are sent to the base station through a second communication module of the unmanned aerial vehicle, the base station is further sent to the control module,
the first height is set by a control module.
3. The unmanned-aerial-vehicle-based surface mining blast hole distribution method of claim 1, wherein the control module transmits two-dimensional coordinates of the blast drill point to the unmanned aerial vehicle, and the unmanned aerial vehicle flies horizontally to a location corresponding to the two-dimensional coordinates of the blast drill point at a first height, further comprising:
after blasting experts set blasting drilling points on the three-dimensional topographic map, the control module sends the two-dimensional coordinates of the blasting drilling points to the second communication module of the unmanned aerial vehicle one by one through the base station, the second communication module sends the two-dimensional coordinates of the blasting drilling points to the unmanned aerial vehicle control unit,
the unmanned aerial vehicle control unit controls the unmanned aerial vehicle to horizontally fly to a target two-dimensional coordinate point at a first height above the surface mining blasting operation area through the unmanned aerial vehicle flight power module,
the control unit obtains two-dimensional coordinate values (x, y) of the position of the unmanned aerial vehicle in real time through the unmanned aerial vehicle computing unit in the flying process, the obtaining method is that a plurality of base stations are arranged around an open mining blasting operation area, the positions of the base stations are fixed in the whole process of automatic calibration of the open mining blasting drilling position, the position of one base station is taken as a zero point (0,0) of a two-dimensional coordinate plane, the position coordinates of all the base stations in the two-dimensional plane are set in the unmanned aerial vehicle computing unit, the second communication module of the unmanned aerial vehicle communicates with each base station in real time in the flying process of the unmanned aerial vehicle at a first height above the open mining blasting operation area to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, the unmanned aerial vehicle computing unit combines the obtained signal intensity values with the two-dimensional in-plane coordinate positions of the base stations set in the unmanned, calculating two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane,
and in the flight process, the control unit compares the two-dimensional coordinate value of the position of the unmanned aerial vehicle with the coordinate of the target two-dimensional coordinate point to obtain a real-time flight vector value until the unmanned aerial vehicle reaches the target two-dimensional coordinate point.
4. The unmanned-aerial-vehicle-based surface mining blast hole distribution method of claim 1, wherein the unmanned aerial vehicle is lowered vertically to a second height spaced from the ground, further comprising:
unmanned aerial vehicle control unit passes through unmanned aerial vehicle flight power module control unmanned aerial vehicle and reduces the height, and unmanned aerial vehicle's scanning range finding module all measures the distance between unmanned aerial vehicle and the ground in each position of flight in-process, and the control unit carries out the comparison with the actual height value in unmanned aerial vehicle place and target second altitude at the flight in-process, acquires real-time difference in height, and the interval to and between the ground is the second height, and unmanned aerial vehicle stops altitude variation.
5. The unmanned-aerial-vehicle-based surface mining blast hole distribution method of claim 1, wherein the unmanned aerial vehicle sprays markers vertically downward, further comprising:
unmanned aerial vehicle's spray gun module sets up in unmanned aerial vehicle's below, the export of spray gun module is towards ground, the screw motor of control unit control spray gun module is processd forward, promotes the piston of spray gun module and moves forward to spray the mark liquid in the spray gun module to ground from the export.
6. The utility model provides an opencut mining blasting cloth hole device based on unmanned aerial vehicle for opencut mining blasting drilling position's automatic demarcation reduces blasting operation area's manual work, improves blasting operation area's operating efficiency and construction safety simultaneously, opencut mining blasting cloth hole device based on unmanned aerial vehicle is provided with basic station, unmanned aerial vehicle, control module, the basic station is provided with communication module, be provided with a plurality of basic station around opencut mining blasting operation area, the automatic demarcation in-process of opencut mining blasting drilling position the rigidity of basic station, its characterized in that, unmanned aerial vehicle is provided with flight power module, frame, scanning ranging module, spray gun module, unmanned aerial vehicle control unit, computational unit, second communication module, scanning ranging module, spray gun module set up in the downside of unmanned aerial vehicle frame, the spray gun module is provided with screw motor, spray gun module, The spray gun module comprises a piston, a liquid storage tank and an outlet, wherein the outlet of the spray gun module faces the ground, the scanning and ranging module faces the ground, and the control unit can control a screw motor of the spray gun module to advance to push the piston of the spray gun module to move forwards so as to spray the marking liquid in the spray gun module to the ground from the outlet.
7. The unmanned aerial vehicle-based surface mining blasting hole distribution device of claim 6, wherein the unmanned aerial vehicle control unit is provided with an input interface and an output interface, the scanning ranging module is provided with an output interface, the output interface of the scanning ranging module is connected with the input interface of the unmanned aerial vehicle control unit, the flight control unit is provided with an input interface, the input interface of the flight control unit is connected with the output interface of the unmanned aerial vehicle control unit, the second communication module and the communication module communicate with each other in a wireless communication manner, the output port of the computing unit is connected with the input port of the control unit, the input port of the screw motor is connected with the output port of the control unit, and the input and output ports of the second communication module are respectively connected with the output port and the input port of the control unit.
8. The unmanned-aerial-vehicle-based surface mining blasting hole distribution device according to claim 6, wherein the flight power module is provided with a propeller, a driving device, a battery module and a flight control unit, the propeller is arranged at the top of the rack, and the driving device, the battery module and the flight control unit are all mounted on the rack.
9. The unmanned aerial vehicle-based surface mining blast hole distribution apparatus of claim 6, wherein the unmanned aerial vehicle is capable of flying horizontally along a designated path at a first elevation above the surface mining blast operation area, acquiring three-dimensional coordinate values (x, y, z) point by point, the two-dimensional coordinate values (x, y) of the three-dimensional coordinate values (x, y, z) being acquired separately from the z-value,
a plurality of base stations are arranged around the surface mining blasting operation area, the positions of the base stations are all fixed in the whole process of automatic calibration of the surface mining blasting drilling position, the number of the base stations is not less than 3,
setting the position coordinates of all base stations in the two-dimensional plane in an unmanned aerial vehicle computing unit by taking the position of one base station as a zero point (0,0) of the two-dimensional coordinate plane,
during the flight process of the unmanned aerial vehicle at the first height above the surface mining blasting operation area, a second communication module of the unmanned aerial vehicle communicates with each base station in real time to obtain the communication signal intensity between the unmanned aerial vehicle and each base station, an unmanned aerial vehicle calculation unit calculates two-dimensional coordinate values (x, y) of the unmanned aerial vehicle in a two-dimensional plane by combining the obtained signal intensity values with the coordinate positions of the base stations set in the unmanned aerial vehicle calculation unit in the two-dimensional plane,
the scanning distance measuring module of the unmanned aerial vehicle measures the distance between the unmanned aerial vehicle and the ground at each measuring position as a z value in three-dimensional coordinate values (x, y, z) of the point,
the unmanned aerial vehicle control unit combines the two coordinate values to form a three-dimensional coordinate value (x, y, z) of each point, and then the three-dimensional coordinate value is sent to the base station through a second communication module of the unmanned aerial vehicle, and the base station is further sent to the control module.
10. The unmanned-aerial-vehicle-based surface mining blasting hole distribution device according to claim 6,
the control module can send the two-dimensional coordinates of the blasting drilling points to the second communication module of the unmanned aerial vehicle one by one through the base station, the second communication module sends the two-dimensional coordinates of the blasting drilling points to the unmanned aerial vehicle control unit,
the unmanned aerial vehicle control unit controls the unmanned aerial vehicle to fly to a target two-dimensional coordinate point horizontally at a first height above an open mining blasting operation area through an unmanned aerial vehicle flight power module, the control unit obtains a two-dimensional coordinate value (x, y) of the position of the unmanned aerial vehicle in real time through an unmanned aerial vehicle computing unit in the flight process, the two-dimensional coordinate value of the position is compared with a coordinate of the target two-dimensional coordinate point, and a real-time flight vector value is obtained until the unmanned aerial vehicle reaches the target two-dimensional coordinate point.
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