CN111691888B - Accurate shovel loading system and method for surface mine - Google Patents
Accurate shovel loading system and method for surface mine Download PDFInfo
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- CN111691888B CN111691888B CN202010533843.3A CN202010533843A CN111691888B CN 111691888 B CN111691888 B CN 111691888B CN 202010533843 A CN202010533843 A CN 202010533843A CN 111691888 B CN111691888 B CN 111691888B
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- bucket
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
- E21C47/10—Machines for obtaining or the removal of materials in open-pit mines for quarrying stone, sand, gravel, or clay
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/30—Mineral freed by means not involving slitting by jaws, buckets or scoops that scoop-out the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N2021/1765—Method using an image detector and processing of image signal
Abstract
The invention relates to an accurate shovel loading system and an accurate shovel loading method for an open-pit mine. According to the method, the three-dimensional coordinate data of the blasting piles measured by the unmanned aerial vehicle and the testing grade of the blast hole are combined and calculated through geological database generation software built in a computer to form a blasting pile grade data base, the blasting pile grade data base is sent to the electric shovel through a receiving and sending wireless communication module, coordinates of bucket teeth of the bucket are calculated through a bucket positioning module and matched with the blasting pile grade data base to obtain the grade of each bucket ore, the weight of the ore rocks in the bucket is calculated through an ore rock quantity measuring module, the ore rocks in the bucket are imaged through an image recognition system, and the grade distribution condition of the ore block degree of each bucket is obtained through image processing software processing. The problem of unstable mineral supply of open mine is solved, the mine production level that becomes more meticulous has been promoted.
Description
Technical Field
The invention relates to the field of mining engineering and mining machinery, in particular to an accurate shoveling and loading system and an accurate shoveling and loading method for a surface mine.
Background
In surface mining, the lumpiness and grade of ore directly affect the efficiency and cost of mechanical crushing and ore dressing. The stability of the lumpiness, the grade and the yield of the ore in the production process is ensured, and the method is the most concerned problem in the production management of all mining and selecting combined enterprises. In the traditional shovel loading operation process, a production manager generally calibrates the grade of the blasting ore by using the tested grade of the drill hole, but due to the throwing effect generated by blasting, the grade problem of shovel loading during operation cannot be accurately reflected by the drill hole grade data; production managers often estimate the daily yield condition by ore removal and rock discharge cars, and the control on the yield is obviously not accurate enough; the evaluation of the rock block size of the ore is obtained only according to the intuitive judgment of an operator, and the manual estimation method has larger error and cannot meet the requirement of accurate shoveling operation. How to determine the ore grade, the ore discharge amount (rock discharge amount) and the ore lumpiness in the shovel loading operation link so as to realize the accurate control of the shovel loading operation is always the direction of domestic mine research.
Disclosure of Invention
The invention aims to provide an accurate shovel loading system and method for an open mine, which are complete in function and high in informatization degree, can calculate and analyze the grade, weight and block degree of each bucket of an electric shovel, improve the accurate shovel loading capacity of the electric shovel, and are beneficial to reducing ore dilution and loss rate.
The purpose of the invention is realized by the following technical scheme:
the invention discloses an accurate shovel loading system for a surface mine, which is characterized in that: the mining shovel comprises a remote computer, a transceiving wireless communication module, a rock mass measuring system, a shovel grade acquisition system, an image identification system and a processor.
The remote computer is internally provided with spectral analysis software and image processing software;
the ore rock mass measuring system comprises a group of magnetic-sensitive sensors, a permanent magnet and two piezoresistive sensors, wherein one group of magnetic-sensitive sensors are three Hall sensors fixed at a groove of a control rod of an electric shovel operation table through screws, the permanent magnet is arranged on the control rod of the electric shovel operation table, and the two groups of piezoresistive sensors are respectively arranged on two sides of a supporting shaft of a base of the electric shovel;
the bucket grade acquisition system comprises a spectral imager for measuring spectral images of the electric shovel bucket, the spectral imager is arranged at the joint of a bucket rod and the bucket, the shooting range covers the whole outline of the bucket, and the spectral imager is provided with a protection device for avoiding equipment damage;
the image recognition system comprises an industrial camera and a camera shooting illuminating lamp, the industrial camera is arranged at the joint of the bucket rod and the bucket, the shooting range covers the whole outline of the bucket, the camera shooting illuminating lamp is arranged above the industrial camera, and the industrial camera and the camera shooting illuminating lamp are both provided with protective devices for avoiding equipment damage;
the processor is arranged in the electric shovel operating room, and the spectral imager, the industrial camera, the piezoresistive sensor and the magnetic sensor are respectively and electrically connected with the processor through data lines;
the processor carries out data transmission with a remote computer center in a wireless communication mode through a transceiving wireless communication module.
Preferably, the processor comprises a plurality of groups of I/O interfaces, an A/D converter, a data collection module connected with the A/D converter, a CPU connected with the data collection module and a storage module connected with the CPU.
Preferably, the transceiving type wireless communication module comprises a wireless communication module I and a wireless communication module II, wherein the wireless communication module I is connected with a remote computer and is used for receiving the spectral image and the ore photo sent by the electric shovel and sending the grade data of the electric shovel; and the wireless communication module II is connected with the processor and is used for receiving the electric shovel quality bit data sent by the remote computer and sending the spectral image shot by the spectral imager and the ore picture shot by the industrial camera.
The invention discloses an accurate shovel loading method for a surface mine, which is characterized by comprising the following steps:
the method comprises the following steps: when the electric shovel works, the magnetic-sensing sensor at the bottom of the control rod of the operating platform is used for collecting data of the shovel arm of the electric shovel starting to work and circle round, and is mainly used for analyzing whether the electric shovel starts to work or not and completing the work and matching the spectral images and the ore photos.
Step two: the spectral imager is used for shooting the ore in the bucket before the rotation of the shovel arm is finished and the bucket is opened, and transmitting the spectral image to the processor, and then transmitting the spectral image to the spectral analysis software in the computer through the transceiving type wireless communication module to count the grade of the ore in the bucket.
Step three: measuring data increment in the shoveling process of the electric shovel by using two groups of piezoresistive sensors, and calculating the average value of the two groups of data by matching with a magnetic-sensitive sensor to measure the once shoveled ore rock amount of the electric shovel so as to further master the production condition of an operation area;
step four: the industrial camera is used for photographing ores in the bucket before the rotation of the shovel arm is finished and the bucket is opened, pictures are transmitted to the processor, and then the pictures are sent to image processing software in the computer through the transceiving type wireless communication module to count the lumpiness of the ores in the bucket.
Compared with the prior art, the invention has the advantages that:
1. the cooperation of the piezoresistive sensor arranged on the supporting shaft of the electric shovel chassis and the magnetic-sensitive sensor arranged at the bottom of the control rod can accurately calculate the rock loading amount, so that a production manager can master the shovel loading working condition conveniently.
2. The spectral imaging instrument and the imaging analysis software are used for performing spectral analysis on the ores in the bucket, so that the grade of each bucket can be accurately mastered, and the ore grade control and the accurate shovel loading can be favorably realized.
3. The industrial camera is used for photographing ores in the electric shovel bucket, the ore block degree distribution condition of each bucket can be obtained after image processing, the method can grasp the whole blasting block degree distribution condition more finely, and the blasting effect is improved.
4. The invention makes up the defects of monitoring the shoveling operation of the electric shovel in the current mine production management, effectively and accurately masters the grade, weight and lumpiness information of the shoveled ore, is beneficial to controlling the grade problem in the shoveling process, and can be matched with vehicle transportation scheduling to optimize the control of the ore quality.
Drawings
FIG. 1 is a block diagram of a surface mine precision shoveling system of the present invention.
FIG. 2 is a schematic view of the system of the present invention mounted on an electric shovel.
FIG. 3 is a schematic diagram of the structure of the magnetic sensor device of the system of the present invention.
Description of reference numerals:
1-a remote computer; 1-spectral analysis software; 1-2-image processing software; 2-transceiving wireless communication module; 3-a rock mass measuring system; 3-1-a magnetic sensor; 3-2-piezoresistive sensor; 4-bucket grade acquisition system; 5-an image recognition system; 5-1-industrial camera; 5-2-camera lighting lamp; 6, a processor; 7-control rod of electric shovel operation table; 8, forming a groove; 9-permanent magnet.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 3, the present invention includes a remote computer, a transceiver wireless communication module, a rock mass measuring system, a bucket grade collecting system, an image recognition system and a processor.
The remote computer 1 is internally provided with spectral analysis software 1-1 and image processing software 1-2;
the ore rock mass measuring system 3 comprises a group of magnetic-sensing sensors 3-1, a permanent magnet 9 and two piezoresistive sensors 3-2, wherein one group of magnetic-sensing sensors 3-1 are three Hall sensors fixed at a groove 8 of a control rod of an electric shovel operation table through screws, the permanent magnet 9 is arranged on the control rod of the electric shovel operation table, and the two groups of piezoresistive sensors 3-2 are respectively arranged on two sides of a supporting shaft of an electric shovel base;
the bucket grade acquisition system comprises a spectral imager 4 for measuring spectral images of the electric shovel bucket, the spectral imager 4 is arranged at the joint of a bucket rod and the bucket, the shooting range covers the whole outline of the bucket, and the spectral imager 4 is provided with a protection device for avoiding equipment damage;
the image recognition system 5 comprises an industrial camera 5-1 and a camera shooting illuminating lamp 5-2, wherein the industrial camera 5-1 is installed at the joint of the bucket rod and the bucket, the shooting range covers the whole outline of the bucket, the camera shooting illuminating lamp 5-2 is installed above the industrial camera, and the industrial camera and the camera shooting illuminating lamp are both provided with protective devices for avoiding equipment damage;
the processor 6 is arranged in an electric shovel operating room, and the spectral imager 4, the industrial camera 5-1, the piezoresistive sensor 3-2 and the magnetic sensor 3-1 are respectively and electrically connected with the processor 6 through data lines;
the processor 6 carries out data transmission with the center of the remote computer 1 in a wireless communication mode through the transceiving type wireless communication module 2.
The processor 6 of the present invention includes a plurality of sets of I/O interfaces, an A/D converter 6-1, a data collection module 6-2 connected to the A/D converter 6-1, a CPU6-3 connected to the data collection module 6-2, and a storage module 6-4 connected to the CPU 6-3.
The transceiving type wireless communication module 2 comprises a wireless communication module I21-and a wireless communication module II 2-2, wherein the wireless communication module I is connected with a remote computer 1, and is used for receiving spectral images and ore photos sent by an electric shovel and sending electric shovel grade data; and the wireless communication module II is connected with the processor 6 and is used for receiving the electric shovel grade data sent by the remote computer and sending the spectral image shot by the spectral imager and the ore picture shot by the industrial camera.
The invention discloses an accurate shovel loading method for a surface mine, which is characterized by comprising the following steps:
the method comprises the following steps: when the electric shovel works, the magnetic-sensing sensor at the bottom of the control rod of the operating platform is used for collecting data of the shovel arm of the electric shovel starting to work and circle round, and is mainly used for analyzing whether the electric shovel starts to work or not and completing the work and matching the spectral images and the ore photos.
Step two: the spectral imager is used for shooting the ore in the bucket before the rotation of the shovel arm is finished and the bucket is opened, and transmitting the spectral image to the processor, and then transmitting the spectral image to the spectral analysis software in the computer through the transceiving type wireless communication module to count the grade of the ore in the bucket.
Step three: measuring data increment in the shoveling process of the electric shovel by using two groups of piezoresistive sensors, and calculating the average value of the two groups of data by matching with a magnetic-sensitive sensor to measure the once shoveled ore rock amount of the electric shovel so as to further master the production condition of an operation area;
step four: the industrial camera is used for photographing ores in the bucket before the rotation of the shovel arm is finished and the bucket is opened, pictures are transmitted to the processor, and then the pictures are sent to image processing software in the computer through the transceiving type wireless communication module to count the lumpiness of the ores in the bucket.
By counting the weight, grade and lumpiness of the ore in each bucket of the electric shovel in all the operation areas of the mine, a production manager can master the quality condition of the ore produced in the mine in real time and timely carry out operation adjustment according to the production requirements of the mine.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (4)
1. The utility model provides an accurate shovel dress system in open mine which characterized in that: the device comprises a remote computer, a transceiving wireless communication module, a mineral rock quantity measuring system, a bucket grade acquisition system, an image identification system and a processor;
the remote computer is internally provided with spectral analysis software and image processing software;
the ore rock mass measuring system comprises a group of magnetic-sensitive sensors, a permanent magnet and two piezoresistive sensors, wherein the group of magnetic-sensitive sensors are three Hall sensors fixed at the groove of a control rod of an electric shovel operation table through screws;
the bucket grade acquisition system comprises a spectral imager for measuring spectral images of the electric shovel bucket, the spectral imager is arranged at the joint of a bucket rod and the bucket, the shooting range covers the whole outline of the bucket, and the spectral imager is provided with a protection device for avoiding equipment damage;
the image recognition system comprises an industrial camera and a camera shooting illuminating lamp, the industrial camera is arranged at the joint of the bucket rod and the bucket, the shooting range covers the whole outline of the bucket, the camera shooting illuminating lamp is arranged above the industrial camera, and the industrial camera and the camera shooting illuminating lamp are both provided with protective devices for avoiding equipment damage;
the processor is arranged in the electric shovel operating room, and the spectral imager, the industrial camera, the piezoresistive sensor and the magnetic sensor are respectively and electrically connected with the processor through data lines;
the processor carries out data transmission with a remote computer center in a wireless communication mode through a transceiving wireless communication module.
2. The surface mine precision shoveling system of claim 1, wherein the processor includes a plurality of sets of I/O interfaces, an a/D converter, a CPU connected to the a/D converter, and a memory module connected to the CPU.
3. The accurate shovel loading system for the surface mine according to claim 1, wherein the transceiver wireless communication module comprises a wireless communication module I and a wireless communication module II, the wireless communication module I is connected with a remote computer and is used for receiving the spectral image and the ore photo sent by the electric shovel and sending the ore grade data; and the wireless communication module II is connected with the processor and is used for receiving the electric shovel quality bit data sent by the remote computer and sending the spectral image shot by the spectral imager and the ore picture shot by the industrial camera.
4. An accurate shoveling and loading method for a surface mine is characterized by comprising the following steps:
the method comprises the following steps: when the electric shovel works, the magnetic-sensing sensor at the bottom of the control rod of the operating platform is used for acquiring data of starting work and convolution of a shovel arm of the electric shovel, mainly used for analyzing whether the electric shovel works and finishes and matching spectral images and ore photos;
step two: shooting ores in the bucket by using a spectral imager before the rotation of the shovel arm is finished and the bucket is opened, transmitting a spectral image to a processor, and sending the spectral image to spectral analysis software in a computer through a transceiving wireless communication module to count the grade of the ores in the bucket;
step three: measuring data increment in the shoveling process of the electric shovel by using two groups of piezoresistive sensors, and calculating the average value of the two groups of data by matching with a magnetic-sensitive sensor to measure the once shoveled ore rock amount of the electric shovel so as to further master the production condition of an operation area;
step four: the industrial camera is used for photographing ores in the bucket before the rotation of the shovel arm is finished and the bucket is opened, pictures are transmitted to the processor, and then the pictures are sent to image processing software in the computer through the transceiving type wireless communication module to count the lumpiness of the ores in the bucket.
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| CN112184599A (en) * | 2020-12-01 | 2021-01-05 | 矿冶科技集团有限公司 | Method and device for identifying lump degree of blasting pile and electronic equipment |
| CN113833468A (en) * | 2021-05-28 | 2021-12-24 | 北京工业大学 | Metal strip mine blasting pile grade distribution measuring and calculating system and accurate shoveling and loading method |
| CN114166326A (en) * | 2021-11-09 | 2022-03-11 | 湖南柿竹园有色金属有限责任公司 | System of preventing cheating is fallen in ore pass to forklift truck automatic metering system |
| CN114151087B (en) * | 2021-11-11 | 2023-10-10 | 神华北电胜利能源有限公司 | Method and device for blending coal in open pit coal mine based on high-precision coordinates of electric shovel |
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