CN112215863A - Method and system for detecting multi-step operation scene in strip mine loading area - Google Patents
Method and system for detecting multi-step operation scene in strip mine loading area Download PDFInfo
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Abstract
The invention provides a method and a system for detecting a multi-step operation scene in a loading area of an open-pit mine, and relates to the technical field of intelligent mines. The invention provides a method for detecting a multi-step operation scene in a loading area of an open-pit mine. Meanwhile, the horizontal distance difference and the height difference are used as detection indexes, so that the scene of field actual operation is met, the algorithm complexity is low, and the detection efficiency is high.
Description
Technical Field
The invention relates to the technical field of intelligent mines, in particular to a method and a system for detecting a multi-step operation scene in an open-pit mine loading area.
Background
The unmanned transportation solution of the strip mine is a process that an unmanned vehicle carries out earth and stone loading in a loading area and transports the earth and stone to a dump for dumping according to a mine operation plan; due to the fact that the terrain of the loading area is complex, the same loading is composed of different steps, the excavator and the unmanned vehicle can work on different steps simultaneously, and the accuracy of high-precision map loading area boundary updating is a key index of unmanned vehicle loading work. In practice, a work scene usually includes non-multi-step work and multi-step work, and different map updating methods need to be adopted for different work scenes, so that detection of the work scene is a precondition for updating the map.
The prior art cannot automatically judge whether the current operation scene is non-multi-step operation or multi-step operation, and needs manual operation scene judgment.
The intelligent degree of the prior art is lower, and the production requirement of an intelligent mine field cannot be met.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method and a system for detecting a multi-step operation scene in a loading area of an open-pit mine, and solves the problem that the current operation scene cannot be automatically judged by the conventional method.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method for detecting a multi-step operation scene in a loading area of a strip mine comprises the following steps:
acquiring a vector boundary loading _ zone _ boundary and a sensing vector boundary vehicle _ update _ vector of a map loading area;
calculating a neighboring map boundary step _ udp _ boundary based on the map loading area vector boundary loading _ zone _ boundary and the sensing vector boundary vehicle _ update _ vector;
and judging the operation scene based on the adjacent map boundary step _ udp _ boundary.
Further, the calculating the adjacent map boundary step _ option _ boundary based on the map loading area vector boundary loading _ zone _ boundary and the sensing vector boundary vehicle _ update _ vector includes the following steps:
s201, calculating a boundary old _ boundary before loading of a step where the unmanned vehicle works and a boundary new _ boundary actually changed after loading of the step where the unmanned vehicle works are completed;
s202, calculating a buffer zone boundary old _ boundary _ buffer and a buffer zone boundary direction buffer _ dir by taking a boundary old _ boundary of a step where unmanned vehicle operation is located before loading as a geometric standard;
s203, calculating a step _ udp _ boundary of the adjacent map based on the boundary new _ boundary and the buffer boundary old _ boundary _ buffer which are actually changed after the step where the unmanned vehicle works is loaded.
Further, the S201 includes the following steps:
based on a sensing vector boundary, vehicle _ update _ vector, performing cutting detection on a map loading area vector boundary loading _ zone _ boundary stagnation point, reserving all points in a loading _ zone _ boundary point row inside a vehicle _ update _ vector boundary, and obtaining a boundary old _ boundary before loading of a step where unmanned vehicle operation is located;
based on the map loading area vector boundary loading _ zone _ boundary, performing point-by-point cutting detection on the vehicle-end sensing vector boundary vehicle _ update _ vector, and eliminating all points in the loading _ zone _ boundary in a vehicle _ update _ vector point row to obtain the boundary new _ boundary which is actually changed after the step where the unmanned vehicle operation is located is loaded.
Further, the S202 includes the following steps:
the method for calculating the buffer boundary old _ boundary _ buffer is as follows:
taking the boundary old _ boundary of the step where the unmanned vehicle is located before loading as a geometric reference, and calculating the buffer boundary old _ boundary _ buffer according to the preset buffer distance buffer _ dis,
the method for calculating the buffer _ dir in the buffer boundary direction is as follows:
calculating clockwise and anticlockwise attribute clockwise according to the vector boundary loading _ zone _ boundary point coordinate sequence of the map loading area;
when the map loading area vector boundary loading _ zone _ boundary is clockwise, the clockwise and anticlockwise attribute clock is true, and the buffer area boundary old _ boundary _ buffer is the left buffer area boundary of the boundary old _ boundary of the step where the unmanned vehicle operation is located before loading;
when the map loading area vector boundary loading _ zone _ boundary is clockwise, the clockwise and counterclockwise attribute clockwise is false, and the buffer boundary old _ boundary _ buffer is the right buffer boundary of the boundary old _ boundary of the unmanned vehicle before the step loading.
Further, the step S203 includes the steps of:
combining the boundary new _ boundary which is actually changed after the step where the unmanned vehicle operation is located is loaded and obtained in S201 and the buffer area boundary old _ boundary _ buffer obtained in S202 into a polygonal area buffer _ area, and performing clipping detection on the map loading area vector boundary loading _ zone _ boundary by using the polygonal area buffer _ area; the boundary of the map loading area vector boundary loading _ zone _ boundary falling within the polygon area buffer _ area, i.e., the adjacent map boundary step _ udp _ boundary, is acquired.
Further, the determining the operation scene based on the neighboring map boundary step _ udp _ boundary includes the following steps:
s301, if no step _ udp _ boundary of the adjacent map exists, judging that the operation scene is not a multi-step operation scene, otherwise, calculating the minimum horizontal distance min _ horizontal _ dis, the maximum horizontal distance max _ horizontal _ dis and the average height difference mean _ delta _ elevation of the adjacent map boundary step _ udp _ boundary and the boundary new _ boundary which is actually changed after the step where the unmanned vehicle operation is located is loaded;
s302, judging whether all judgment conditions are met or not based on the minimum horizontal distance min _ horizontal _ dis, the maximum horizontal distance max _ horizontal _ dis and the average height difference mean _ delta _ elevation, and if so, judging that the operation is a multi-step operation scene; otherwise, judging the operation as a non-multi-step operation scene.
Further, the determination conditions are three as follows:
min_horizontal_dis<min_refer_horizontal_dis；
max_horizontal_dis<max_refer_horizontal_dis；
mean_delta_elevation>mean_refer_delta_elevation；
wherein min _ reference _ horizontal _ dis is a minimum horizontal reference distance;
max _ reference _ horizontal _ dis is the maximum horizontal reference distance;
mean _ refer _ delta _ elevtio is the average height difference.
In a second aspect, the invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.
In a third aspect, a strip mine loading zone multi-step operational scenario detection system includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method when executing the computer program.
(III) advantageous effects
The invention provides a method and a system for detecting a multi-step operation scene in a loading area of an open-pit mine. Compared with the prior art, the method has the following beneficial effects:
the invention provides a method for detecting a multi-step operation scene in a loading area of an open-pit mine. Meanwhile, the horizontal distance difference and the height difference are used as detection indexes, so that the scene of field actual operation is met, the algorithm complexity is low, and the detection efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a map loading area vector boundary and a perception vector boundary according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the boundary of the unmanned vehicle before loading the steps and the actual change after loading;
FIG. 4 is a diagram of a buffer boundary, a buffer boundary direction, and an adjacent map boundary according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a method and a system for detecting a multi-step operation scene in a loading area of an open-pit mine, solves the problem that the current operation scene cannot be automatically judged by the existing method, and realizes automatic judgment of the current operation scene.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows: the invention provides a method for detecting a multi-step operation scene in a loading area of an open-pit mine. Meanwhile, the horizontal distance difference and the height difference are used as detection indexes, so that the scene of field actual operation is met, the algorithm complexity is low, and the detection efficiency is high.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
as shown in fig. 1, the present invention provides a method for detecting a multi-step operation scene in a loading area of a strip mine, which is executed by a computer, and comprises the following steps:
acquiring a vector boundary loading _ zone _ boundary and a sensing vector boundary vehicle _ update _ vector of a map loading area;
calculating a neighboring map boundary step _ udp _ boundary based on the map loading area vector boundary loading _ zone _ boundary and the sensing vector boundary vehicle _ update _ vector;
judging a job scene based on a neighboring map boundary step _ udp _ boundary;
the beneficial effect of this embodiment does:
the invention provides a method for detecting a multi-step operation scene in a loading area of an open-pit mine. Meanwhile, the horizontal distance difference and the height difference are used as detection indexes, so that the scene of field actual operation is met, the algorithm complexity is low, and the detection efficiency is high.
The following describes the implementation process of the embodiment of the present invention in detail:
and S1, acquiring a map loading area vector boundary loading _ zone _ boundary and a sensing vector boundary vehicle _ update _ vector. The acquisition method comprises the following specific steps:
according to the requirements of unmanned transportation operation in the open-pit mine field, after the unmanned vehicle finishes the loading operation at the appointed loading position in the loading area, the boundary of the current loading operation area is identified through a sensing system in the process of leaving the loading position, and the boundary is uploaded to the cloud end in the form of vector line data.
Fig. 2 shows a map loading zone vector loading _ zone _ boundary of a corresponding version during an imported loading operation and a sensing vector boundary vehicle _ update _ vector uploaded to the cloud by a vehicle side.
And S2, calculating a proximity map boundary step _ udp _ boundary based on the map loading area vector boundary loading _ zone _ boundary and the sensing vector boundary vehie _ update _ vector. The method specifically comprises the following steps:
s201, calculating an actual boundary updating vector. Calculating a boundary old _ boundary before loading the step where the unmanned vehicle works and a boundary new _ boundary actually changed after the step where the unmanned vehicle works is loaded are calculated;
based on a sensing vector boundary, vehicle _ update _ vector, performing cutting detection on a map loading area vector boundary loading _ zone _ boundary stagnation point, reserving all points in a loading _ zone _ boundary point row inside a vehicle _ update _ vector boundary, and obtaining a boundary old _ boundary before loading of a step where unmanned vehicle operation is located;
based on the map loading area vector boundary loading _ zone _ boundary, the vehicle-end sensing vector boundary vehicle _ update _ vector is cut and detected point by point, all points in the loading _ zone _ boundary in the vehicle _ update _ vector point row are removed, and the boundary new _ boundary which is actually changed after the loading of the step where the unmanned vehicle operation is located is obtained, as shown in fig. 3.
S202, calculating a boundary buffer area to be updated;
namely, the boundary old _ boundary _ buffer and the buffer boundary direction buffer _ dir before loading the step where the unmanned vehicle is located are calculated as the geometric reference, as shown in fig. 4;
the method for calculating the buffer boundary old _ boundary _ buffer is as follows:
taking a boundary old _ boundary before loading of a step where the unmanned vehicle is located as a geometric reference, calculating a buffer boundary old _ boundary _ buffer according to a preset buffer distance buffer _ dis (according to experience, the preset value is 10 meters), and calculating the buffer boundary old _ boundary _ buffer;
the buffer boundary old _ boundary _ buffer is located in the outer direction buffer _ dir of the loading _ zone _ boundary; the buffer _ dir is the left side direction or the right side direction of the geometric trend of the boundary old _ boundary before the step where the unmanned vehicle works is loaded.
The method for calculating the buffer _ dir in the buffer boundary direction is as follows:
calculating clockwise and anticlockwise attribute clockwise according to the vector boundary loading _ zone _ boundary point coordinate sequence of the map loading area;
when the map loading area vector boundary loading _ zone _ boundary is clockwise, the clockwise and anticlockwise attribute clock is true, and the buffer area boundary old _ boundary _ buffer is the left buffer area boundary of the boundary old _ boundary of the step where the unmanned vehicle operation is located before loading;
when the map loading area vector boundary loading _ zone _ boundary is clockwise, the clockwise and anticlockwise attribute clock is false, and the buffer area boundary old _ boundary _ buffer is the right buffer area boundary of the boundary old _ boundary of the unmanned vehicle operation before the step loading;
s203, calculating a close map boundary; namely, based on the boundary new _ boundary and the buffer area boundary old _ boundary _ buffer which are actually changed after the step where the unmanned vehicle works is loaded, calculating the adjacent map boundary step _ udp _ boundary;
as shown in fig. 4, a polygon area buffer _ area is formed by the boundary new _ boundary that is actually changed after the step where the unmanned vehicle operation is located and obtained in S201 and the buffer area boundary old _ boundary _ buffer obtained in S202 is loaded, and the map loading area vector boundary loading _ zone _ boundary is cut and detected by using the polygon area buffer _ area; the boundary of the map loading area vector boundary loading _ zone _ boundary falling within the polygon area buffer _ area, i.e., the adjacent map boundary step _ udp _ boundary, is acquired.
If all the boundaries of the loading _ zone _ boundary do not fall into the buffer _ area, the conclusion is directly drawn, and the operation is judged to be a non-multi-step operation scene.
S3, judging a work scene based on the adjacent map boundary;
according to the calculation result of step S2, if there is a neighboring map boundary step _ udp _ boundary, then spatial analysis needs to be performed on step _ udp _ boundary to calculate whether the operation is a multi-step operation scene. The method comprises the following steps:
s301, calculating a minimum horizontal distance min _ horizontal _ dis, a maximum horizontal distance max _ horizontal _ dis and an average height difference mean _ delta _ elevation of a boundary new _ boundary which is adjacent to a map boundary step _ udp _ boundary and actually changes after loading is completed on a step where unmanned vehicle operation is located;
s302, judging whether all judgment conditions are met or not based on the minimum horizontal distance min _ horizontal _ dis, the maximum horizontal distance max _ horizontal _ dis and the average height difference mean _ delta _ elevation, and if so, judging that the operation is a multi-step operation scene; otherwise, judging the operation as a non-multi-step operation scene.
The judgment conditions are as follows:
min_horizontal_dis<min_refer_horizontal_dis；
max_horizontal_dis<max_refer_horizontal_dis；
mean_delta_elevation>mean_refer_delta_elevation；
wherein, min _ reference _ horizontal _ dis is the minimum horizontal reference distance, the default value is 2 meters, and the adjustment can be carried out according to the actual operation scene and the process requirement; max _ reference _ horizontal _ dis is the maximum horizontal reference distance, the default value is 10 meters, and the adjustment can be carried out according to the actual operation scene and the process requirement; mean _ refer _ delta _ elevtio is an average height difference, a default value is 1 meter, and the mean _ refer _ delta _ elevtio can be adjusted according to an actual operation scene and process requirements.
Example 2
The invention also provides a system for detecting the multi-step operation scene in the loading area of the strip mine, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the method when executing the computer program.
It can be understood that the system for detecting multiple step operation scenes in a strip mine loading area provided by the embodiment of the invention corresponds to the method for detecting multiple step operation scenes in a strip mine loading area, and relevant explanations, examples, beneficial effects and the like of the system can refer to the corresponding contents in the method for detecting multiple step operation scenes in a strip mine loading area, and are not repeated herein.
Example 3
The invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.
In summary, compared with the prior art, the invention has the following beneficial effects:
the invention provides a method for detecting a multi-step operation scene in a loading area of an open-pit mine. Meanwhile, the horizontal distance difference and the height difference are used as detection indexes, so that the scene of field actual operation is met, the algorithm complexity is low, and the detection efficiency is high.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform. With this understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for detecting a multi-step operation scene in a loading area of a strip mine is characterized by comprising the following steps:
acquiring a vector boundary loading _ zone _ boundary and a sensing vector boundary vehicle _ update _ vector of a map loading area;
calculating a neighboring map boundary step _ udp _ boundary based on the map loading area vector boundary loading _ zone _ boundary and the sensing vector boundary vehicle _ update _ vector;
and judging the operation scene based on the adjacent map boundary step _ udp _ boundary.
2. The method as claimed in claim 1, wherein the step _ option _ boundary calculation of the adjacent map boundary based on the map loading area vector boundary loading _ zone _ boundary and the sensing vector boundary sensing _ update _ vector comprises the following steps:
s201, calculating a boundary old _ boundary before loading of a step where the unmanned vehicle works and a boundary new _ boundary actually changed after loading of the step where the unmanned vehicle works are completed;
s202, calculating a buffer zone boundary old _ boundary _ buffer and a buffer zone boundary direction buffer _ dir by taking a boundary old _ boundary of a step where unmanned vehicle operation is located before loading as a geometric standard;
s203, calculating a step _ udp _ boundary of the adjacent map based on the boundary new _ boundary and the buffer boundary old _ boundary _ buffer which are actually changed after the step where the unmanned vehicle works is loaded.
3. The method for detecting the multi-step operation scene in the loading area of the open-pit mine according to claim 2, wherein the step S201 comprises the steps of:
based on a sensing vector boundary, vehicle _ update _ vector, performing cutting detection on a map loading area vector boundary loading _ zone _ boundary stagnation point, reserving all points in a loading _ zone _ boundary point row inside a vehicle _ update _ vector boundary, and obtaining a boundary old _ boundary before loading of a step where unmanned vehicle operation is located;
based on the map loading area vector boundary loading _ zone _ boundary, performing point-by-point cutting detection on the vehicle-end sensing vector boundary vehicle _ update _ vector, and eliminating all points in the loading _ zone _ boundary in a vehicle _ update _ vector point row to obtain the boundary new _ boundary which is actually changed after the step where the unmanned vehicle operation is located is loaded.
4. The method for detecting the multi-step operation scene in the loading area of the open-pit mine according to claim 3, wherein the step S202 comprises the following steps:
the method for calculating the buffer boundary old _ boundary _ buffer is as follows:
taking the boundary old _ boundary of the step where the unmanned vehicle is located before loading as a geometric reference, and calculating the buffer boundary old _ boundary _ buffer according to the preset buffer distance buffer _ dis,
the method for calculating the buffer _ dir in the buffer boundary direction is as follows:
calculating clockwise and anticlockwise attribute clockwise according to the vector boundary loading _ zone _ boundary point coordinate sequence of the map loading area;
when the map loading area vector boundary loading _ zone _ boundary is clockwise, the clockwise and anticlockwise attribute clock is true, and the buffer area boundary old _ boundary _ buffer is the left buffer area boundary of the boundary old _ boundary of the step where the unmanned vehicle operation is located before loading;
when the map loading area vector boundary loading _ zone _ boundary is clockwise, the clockwise and counterclockwise attribute clockwise is false, and the buffer boundary old _ boundary _ buffer is the right buffer boundary of the boundary old _ boundary of the unmanned vehicle before the step loading.
5. The method for detecting the multi-step operation scene in the loading area of the open-pit mine according to claim 2, wherein the step S203 comprises the steps of:
combining the boundary new _ boundary which is actually changed after the step where the unmanned vehicle operation is located is loaded and obtained in S201 and the buffer area boundary old _ boundary _ buffer obtained in S202 into a polygonal area buffer _ area, and performing clipping detection on the map loading area vector boundary loading _ zone _ boundary by using the polygonal area buffer _ area; the boundary of the map loading area vector boundary loading _ zone _ boundary falling within the polygon area buffer _ area, i.e., the adjacent map boundary step _ udp _ boundary, is acquired.
6. The method as claimed in claim 1, wherein the step _ udp _ boundary based on the adjacent map boundary for determining the operation scene comprises the following steps:
s301, if no step _ udp _ boundary of the adjacent map exists, judging that the operation scene is not a multi-step operation scene, otherwise, calculating the minimum horizontal distance min _ horizontal _ dis, the maximum horizontal distance max _ horizontal _ dis and the average height difference mean _ delta _ elevation of the adjacent map boundary step _ udp _ boundary and the boundary new _ boundary which is actually changed after the step where the unmanned vehicle operation is located is loaded;
s302, judging whether all judgment conditions are met or not based on the minimum horizontal distance min _ horizontal _ dis, the maximum horizontal distance max _ horizontal _ dis and the average height difference mean _ delta _ elevation, and if so, judging that the operation is a multi-step operation scene; otherwise, judging the operation as a non-multi-step operation scene.
7. The method for detecting the multi-step operation scene in the loading area of the open-pit mine according to claim 6, wherein the judging conditions are as follows:
min_horizontal_dis<min_refer_horizontal_dis；
max_horizontal_dis<max_refer_horizontal_dis；
mean_delta_elevation>mean_refer_delta_elevation；
wherein min _ reference _ horizontal _ dis is a minimum horizontal reference distance;
max _ reference _ horizontal _ dis is the maximum horizontal reference distance;
mean _ refer _ delta _ elevtio is the average height difference.
8. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
9. A strip mine loading zone multi-step operational scenario detection system, the system comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of the method of any of claims 1 to 7.
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